Multi-Execution (Buffer Mode) Of Motion Control Instructions For Multi-Axes Coordinated Control - Omron NY532-1500 User Manual

9-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for
Multi-axes Coordinated Control
You can perform multi-execution for multi-axes coordinated control in axes groups the same way as
you can for axis operations. You can perform path control for multiple continuous lines and/or arcs if
you use Buffer Mode under multi-axes coordinated control.
(3)
(2)
(1)
Point A
You can set the BufferMode input variable to motion control instruction to select one of the same Buffer
Modes as are supported for single-axis operations. There are a total of eight instruction buffers for axes
groups. Each axes group has one buffer for the instruction currently in operation and seven buffers for
multi-execution instructions. Multi-execution of instruction cannot be used from an axis operation
instruction to an axes group operation instruction and vice-versa.
Precautions for Correct Use Precautions for Correct Use
• Up to seven instructions can be buffered at the same time for a single axes group. If multi-exe-
cution is performed for eight or more instructions, an instruction error will occur.
• Multi-execution of multi-axes coordinated control instructions (axes group instructions) is not
possible for axes operating as a single axis. Similarly, multi-execution of single-axis control
instructions is not possible for axes operating under multi-axes coordinated control (axes
group instructions). An instruction error will occur if these rules are broken.
Aborting
This is the default mode. No buffering is performed in this mode. The current command is aborted and
the new instruction is executed. Multi-execution of motion control instructions that have no BufferMode
input variable will operate in Aborting Mode. Operation of the multi-execution instruction starts at the
current interpolation velocity when the multi-execution instruction is executed. With Aborting Mode you
cannot combine single-axis control, including synchronized single-axis control and axes group control.
An instruction error will occur at the time of multi-execution if you execute an axes group operation on
an axis currently in a single-axis motion. This will stop both the axes group and the single axis.
Multi-execution during Constant-velocity Motion
Multi-instruction timing
Executed. Initial command position
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
(4)
Linear interpolation: (1), (3), (5), and (7)
Circular interpolation: (2), (4), and (6)
(5)
(6) (7)
Point B
Buffered command
position
9 Motion Control Functions
Multi-execution during Acceleration/Deceleration
Multi-instruction timing
Executed. Initial command position
9
Buffered command
position
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