9 Motion Control Functions
9-36
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
*1 For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered. Refer to 9-5-7 Multi-execu-
tion of Motion Control Instructions (Buffer Mode) for details.
*2 For a CPU Unit with unit version 1.10 or later, the axis does not stop with an error when Blending is used for
operation. Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) for details.
The acceleration and deceleration rates used in an actual positioning motions are specified by the
Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input variables to the motion
control instruction.
You can read Axis Variables in the user program to monitor acceleration and deceleration rates.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Acceleration Warning
Value
Set the percentage of the maximum accelera-
tion rate at which to output an acceleration
warning for the axis. No acceleration warning is
output if 0 is set.
(Unit: %)
0 to 100 0
Deceleration Warning
Value
Set the percentage of the maximum decelera-
tion rate at which to output a deceleration warn-
ing for the axis. No deceleration warning is
output if 0 is set.
(Unit: %)
0 to 100 0
Specifying Acceleration and Deceleration Rates for Axis Operation
Monitoring Acceleration and Deceleration Rates
Variable name Data type Meaning Function
_MC_AX[0-255].Cmd.AccDec LREAL Command Current
Accelera-
tion/Deceleration
This is the current value of the com-
mand acceleration/deceleration rate.
A plus sign is added for acceleration,
and a minus sign is added for decel-
eration.
Parameter name Function Setting range Default
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