5-23
5 Motion Control Parameters
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
5-2 Axis Parameters
5
5-2-4 Operation Settings
If the target velocity changes as the result of re-executing the motion control command or as the result
of performing multi-execution of instructions for it during motion, the initial velocity is used. If the target
velocity is greater than the start velocity, acceleration/deceleration are performed at the specified accel-
eration/deceleration rates. If the target velocity is less than or equal to the start velocity, accelera-
tion/deceleration are not performed and the axis moves.
The start velocity is also used if the velocity is changed by the MC_SetOverride instruction. If the target
velocity is greater than the start velocity, acceleration/deceleration are performed at the specified accel-
eration/deceleration rates. If the target velocity is less than the start velocity, acceleration/deceleration
are not performed and the axis moves.
The start velocity is not used in the following cases.
• Torque Control Mode
• Cyclic synchronous velocity control
• Cyclic synchronous positioning
• Synchronized control
Note However, the start velocity is used for the MC_GearOut and MC_CamOut instructions.
• Multi-axes coordinated control
Note However, the start velocity for each axis is used to decelerate the axes to a stop.
Start velocity
0
Instruction
executed.
Instruction
executed.
Instruction
executed.
Time
Velocity
Start velocity
0
100%→180% 180%→50%
Time
50%
100%
180%
Override factor
Velocity
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