Omron Sysmac NY-series Instruction & Reference Manual page 610

4 Axes Group Instructions
The velocity is
discontinuous.
Velocity of axis A1
Velocity of axis A0
Superimpose Corners
Use the superimpose corners specification when you want make the axes command velocities contin-
uous.
Operation Example
Velocity (Target Velocity), BufferMode, and TransitionMode when transitioning from P1 to P2, and from
P2 to P3 are shown below.
• Motion from P1 to P2: Velocity = F, BufferMode = Aborting, TransitionMode = _mcTMNone (Transi-
tion Disabled)
• Motion from P2 to P3: Velocity = F, BufferMode = Blending with next, TransitionMode = _mcTMCor-
nerSuperimposed (Superimpose Corners)
• The motion starts from position P1 and passes near position P2. Linear interpolation is performed to
position P3.
• To make the axes command velocities continuous, the deceleration range of the previous motion
and the acceleration range of the current motion are combined to create the command velocity. For
this reason, the acceleration time of the current motion is the same as the deceleration time of the
previous motion.
4-58
A1
Interpolation
velocity F
P1 P2
P3
The velocity is
discontinuous.
A0
NY-series Motion Control Instructions Reference Manual (W561)