Omron NY532-1500 User Manual page 241

Blending
The buffered instruction remains in the buffer until the target position of the current instruction is
reached. The buffered instruction is executed after the current instruction's target position is reached.
However, motion does not stop at this time. Operation transitions to the next instruction at the velocity
specified with the BufferMode (Buffer Mode Selection) input variable. For relative travel, the final posi-
tion will be the total of the values for both instructions. For absolute travel, the final position will be the
target position of the second multi-execution instruction. The Acceleration/Deceleration Over axis
parameter is used to select one of the following operations for when the target position would be
exceeded with the values that are set in the Maximum Acceleration and Maximum Deceleration axis
parameters.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
• Use rapid acceleration/deceleration.
• Minor fault stop
Precautions for Correct Use Precautions for Correct Use
• In a blending mode, you cannot combine single-axis and synchronized control.
• For an NY-series Controller, Blending is not changed to Buffered even if you select Use rapid
acceleration/deceleration. (Blending is changed to Buffered.) In this case, the maximum
acceleration/deceleration rate is used and the blending operation is continued.
Also, a fault stop is not performed even if you select Minor fault stop. Similar to the previous
case, the maximum acceleration/deceleration rate is used and the blending operation is
continued.
An example for an Acceleration/Deceleration Over operation is given below.
Use Rapid Acceleration/Deceleration (Blending Is Changed to Buffered)
The operation of the NY-series Controller is given below.
The operation will be the same even if you select Minor fault stop.
Here, BufferMode is set to Blending Next.
Target velocity of the
buffered instruction
Transit velocity
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Current
instruction
The maximum acceleration rate is used, and
execution of the buffered instruction starts when the
target position of the current instruction is exceeded.
After switching the instruction, the acceleration rate
of the buffered instruction is used.
Multi-execution of
instructions
9 Motion Control Functions
Buffered instruction
9
Time
9-47