Omron Sysmac NY-series Instruction & Reference Manual page 607

Interpolation velocity
Acceleration rate
Deceleration rate
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate.
• Jerk Set to Value Other Than 0
The command value for the velocity is created with At as the upper acceleration limit and Dt as the
upper deceleration limit.
Interpolation velocity
Acceleration rate
Deceleration rate
Jerk
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt:
Specified jerk
• Short Travel Distance When Jerk Is Other Than 0
The interpolation velocity will not reach the specified Vt (Target Velocity).
NY-series Motion Control Instructions Reference Manual (W561)
Vt
At
-Dt
Vt
At
-Dt
Jt
-Jt
4 Axes Group Instructions
Time
Time
Time
Time
Time
4
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