Omron NJ501-1400 User Manual page 221

Patterns Where Deceleration Rate Decreases
Trapezoidal Control or Triangular Control
Velocity
↓Instruction re-executed
↑Executed.
Changing the Torque Command
The torque command value will change based on the torque ramp specification when you re-execute a
motion control instruction.
Programming Example for Re-execution
This example demonstrates changing the target position from 1000 to 2000 for absolute positioning. In
this example, the variable Axis1Pos is used as the input parameter to the target position. Specify the
target position to 1000 with the MOV instruction and change Axis1Execute to TRUE to begin position-
ing. Specify the target position to 2000 during operation and change Axis1Execute to TRUE again to
switch to a positioning operation for the new target position of 2000.
Axis1PosSet1
Axis1PosSet2
Axis1Execute _MC_AX[0]
NJ-series CPU Unit Motion Control User's Manual (W507)
Decreased deceleration
rate makes it impossible
to reach target velocity
so a change is made to
triangular control.
↑Command position
Move Axis1pos 1000
Move Axis1pos 2000
Axis1MoveAbsolute
MC_MoveAbsolute
Axis
Execute
Axis1Pos Position
Axis1Velo Velocity
Axis1Acc Acceleration Command Aborted
Axis1Dec Deceleration
Axis1Jerk Jerk
0 Direction
0 BufferMode
9 Motion Control Functions
Deceleration-exceed Control
Velocity
↑Executed.
Axis _MC_AX[0]
Done Axis1Done
Busy Axis1Busy
Active Axis1Active
Axis1CA
Error Axis1Error
ErrorID Axis1ErrorID
If the command position is exceeded
at the reduced deceleration rate, a
switch is made to deceleration-
exceed control.
No change for re-execution
during deceleration
↑Command position
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