Omron NX701-1 User Manual page 272

9 Motion Control Functions
 For a CPU Unit with Unit Version 1.10 or Later
The operation with the following setting is shown 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
Use Rapid Acceleration/Deceleration
 BufferMode Is Set to Blending Previous
Velocity
Multi-execution of instructions
 BufferMode Is Set to Blending Next
Velocity
With the acceleration rate of the
current instruction, it is impossible
to reach the target velocity of the
buffered instruction at the target
position.
Rapid acceleration is therefore
used to reach the target velocity
at the target position.
9-50
Current
instruction
Multi-execution of
instructions
Buffered instruction
Current instruction
Transit velocity
used.
Current instruction
Current instruction
Current instruction
Multi-execution of instructions
Buffered 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.
Stopping at the target position is not possible for
the deceleration rate of the buffered instruction.
Rapid deceleration is therefore used to stop at the
target position.
Buffered instruction
Buffered instruction
Transit velocity used.
Buffered instruction
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
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