Omron NY532-1500 User Manual page 258

9 Motion Control Functions
Multi-execution for axes groups is done so that the interpolation velocity remains continuous between
instructions. If continuous operation is performed with an instruction with a travel distance of 0, the
velocity changes for the axes will not be continuous.
Example: Interpolation Velocity and Velocities of Axes for Two-axis Cartesian
Coordinates
Y coordinate
Fy
Y-axis motion
X-axis motion
Buffered
The multi-execution instruction remains in the buffer until the current operation is finished. The buffered
instruction is executed after the operation for the current instruction is normally ended.
Velocity
Blending
Blending for axes groups works in the same way as blending for single-axis operations. The buffered
instruction remains in the buffer until the target position of the current instruction is reached. The buff-
ered instruction is executed after the target position of the current instruction is reached. The axes do
not stop at the target position. The two motions are blended together at the interpolation velocity speci-
fied with the BufferMode input variable.
The Interpolation Acceleration/Deceleration Over axes group parameter is used to select one of the fol-
lowing operations for when the acceleration/deceleration that is specified in the buffered instruction
would exceed the target position.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
9-64
Ta
↓Multi-execution timing
Current instruction
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
F
X coordinate
Fx
Td
The target position is reached
and the next command is
executed after the current
operation is normally finished.
Buffered instruction
Time