Specifying The Operation Direction - Omron NY532-1500 User Manual

9 Motion Control Functions
Example: Acceleration of 25,000 mm/s
Target velocity
at startup
Acceleration rate
at startup
Jerk
at startup
Monitoring Jerk
You can read Axis Variables in the user program to monitor jerk.
Variable name
_MC_AX[0-63].Cmd.Jerk
9-5-5

Specifying the Operation Direction

If you want to specify a rotation direction, such as shortest way, using an index table, set the Count
Mode to Rotary Mode. Next, set the operation direction with the Direction input variable to the motion
control instruction for an absolute position. If you set the direction to the shortest way, positive direction,
negative direction, or current direction, you can specify a position that is greater than or equal to the
modulo minimum position and less than the modulo maximum position within one turn of the ring
counter. The Direction input variable will be ignored when the Count Mode is set to Linear Mode. Posi-
tioning will be performed to the target position.
The following table lists the different directions you can specify in the MC Function Module.
Direction
Shortest way
Positive direction
Negative direction
Current direction
No direction specified
9-36
of 50%
Jerk = 25,000/(0.1 × 0.5/2) = 1,000,000 (mm/s
Velocity
Acceleration
rate
Jerk
25%
Data type
LREAL
Motion starts in the direction where the command current position and the target posi-
tion are closer to each other.
Motion starts in the positive direction.
Motion starts in the negative direction.
Motion starts in the same direction as the previous operation.
Motion starts in the direction that does not pass through the upper and lower limits of
the ring counter. With this direction specification, you can specify a target position that
exceeds the upper or lower limits of the ring counter. If that occurs, relative positioning
is performed using the difference between the target position and the command current
position as the target distance. This enables you to perform multi-turn positioning on
the ring counter.
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
2
, Acceleration Time of 0.1 s, and a Jerk Application Rate
3
)
25%
Meaning
Command Current This is the current value of the com-
Jerk mand jerk.
Operation
Time
Time
Time
Function