Acceleration And Deceleration Under Multi-Axes Coordinated Control - Omron NY532-1500 User Manual

9 Motion Control Functions
Monitoring Velocities
You can read Axes Group Variables from the user program to monitor the interpolation velocity.
Variable name
_MC_GRP[0-31].Cmd.Vel
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated
Control
Multi-axes coordinated control performs control on the path for the interpolation acceleration and inter-
polation deceleration rates. The unit is the same as for single axes, command units/s
Axis Parameters That Are Related to Interpolation Acceleration and
Interpolation Deceleration
Parameter name
Maximum Interpolation
Acceleration
Maximum Interpolation
Deceleration
Interpolation Accelera-
tion/Deceleration Over
Interpolation Accelera-
tion Warning Value
Interpolation Decelera-
tion Warning Value
*1 Blending is not changed to Buffered. Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer
Mode) for details.
9-60
Data type
LREAL Command Interpo-
lation Velocity
Function
Set the maximum interpolation acceleration
for the path. Set 0 for no interpolation accel-
eration limit.
2
(Unit: command units/s )
Set the maximum interpolation deceleration
for the path. Set 0 for no interpolation decel-
eration limit.
2
(Unit: command units/s )
Set the operation for when the maximum
interpolation acceleration/deceleration rate
would be exceeded after excessive acceler-
ation/deceleration during accelera-
tion/deceleration control of the axes group
because stopping at the target position is
given priority.
0: Use rapid acceleration/deceleration.
(Blending is changed to Buffered.)
1: Use rapid acceleration/deceleration.
2
2: Minor fault stop *
Set the percentage of the maximum inter-
polation acceleration at which to output an
interpolation acceleration warning. No inter-
polation acceleration warning is output if 0
is set.
(Unit: %)
Set the percentage of the maximum inter-
polation deceleration rate at which to output
an interpolation deceleration warning. No
interpolation deceleration warning is output
if 0 is set.
(Unit: %)
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Meaning
This is the current value of the com-
mand interpolation velocity. A plus
sign is added during travel in the pos-
itive direction, and a minus sign is
added during travel in the negative
direction.
Setting range
Non-negative long
reals
Non-negative long
reals
0 to 2
*1
0 to 100
0 to 100
Function
2
.
Default
0
0
0
0
0