9 Motion Control Functions
9-2
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
9-6 Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-53
9-6-1 Outline of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-53
9-6-2 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-56
9-6-3 Circular Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-57
9-6-4 Axes Group Cyclic Synchronous Positioning . . . . . . . . . . . . . . . . . . . . . . . . . 9-57
9-6-5 Stopping Under Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . 9-58
9-6-6 Overrides for Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . .9-59
9-7 Common Functions for Multi-axes Coordinated Control . . . . . . . . . . . . . 9-61
9-7-1 Velocity Under Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . 9-61
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control . . . . . .9-62
9-7-3 Jerk for Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-63
9-7-4 Re-executing Motion Control Instructions for Multi-axes
Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-64
9-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes
Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-65
9-8 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-73
9-8-1 Changing the Current Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-73
9-8-2 Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-74
9-8-3 Latching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-74
9-8-4 Zone Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-75
9-8-5 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-76
9-8-6 Following Error Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-77
9-8-7 Following Error Counter Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-78
9-8-8 Axis Following Error Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-78
9-8-9 In-position Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-79
9-8-10 Changing Axis Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-81
9-8-11 Enabling Digital Cam Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-81
9-8-12 Displaying 3D Motion Monitor for User Coordinate System . . . . . . . . . . . . . .9-82
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