Omron NY532-1500 User Manual page 236

9 Motion Control Functions
Changing the Travel Distance
Even if you change the travel distance and re-execute the MC_MoveRelative (Relative Positioning)
instruction, positioning is performed for the new travel distance in reference to the position where the
motion first started. However, if the instruction is executed again just before positioning is completed, it
may be executed as a new instruction rather than as a re-execution of the same instruction.
Re-execution Instruction during Motion
Velocity
↑ Executed.
Precautions for Correct Use Precautions for Correct Use
Do not change the travel distance and re-execute the instruction just before the end of position-
ing.
Changing the Target Velocity
The operation is changed only during acceleration (including acceleration for triangular control) and
constant-velocity motion. Changes are also accepted when the axis is decelerating, but operation is not
affected.
Changing the Acceleration Rate
The operation is changed only during acceleration and acceleration during triangular control. If it is
changed when moving at a constant speed, the changed rate applies to acceleration for an override.
Changes are also accepted when the axis is decelerating, but operation is not affected.
Changing the Deceleration Rate
The deceleration rate is changed only during acceleration, constant-velocity motion, deceleration, trian-
gular control, or during deceleration-exceed control. If the new deceleration rate causes the axis to
exceed the target position, stopping at the target position is given the highest priority. Therefore, in this
case, the actual deceleration rate will exceed the specified deceleration rate.
 Patterns Where Deceleration Rate Increases
Trapezoidal Control
Velocity
↑Executed.
9-42
↓ Command re-executed.
↑ Initial ↑ Travel distance
travel specified when
distance instruction was
re-executed
Instruction
↓re-executed
There is an area of
acceleration due to
the increased
deceleration rate
during deceleration
↑Command position
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Re-execution Just Before End of Positioning
Velocity
↓ Command re-executed.
↑ Executed.
If the instruction is re-executed just before the end of positioning,
positioning for the travel distance that is specified when the instruction
is re-executed is sometimes based on the position to which the axis
was moved for the initial travel distance.
Triangular Control Followed by Trapezoidal Control
Instruction
Velocity
↓re-executed
↑Executed.
↑ Initial
Travel distance
↑
travel specified when
distance
instruction was
re-executed
Increased deceleration rate allows
operation to reach target velocity
for trapezoidal control.
There is an area of
acceleration due to the
increased deceleration
rate during deceleration
↑Command position