9 Motion Control Functions
9-38
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Example: Acceleration of 25,000 mm/s
2
, Acceleration Time of 0.1 s, and a Jerk Application Rate
of 50%
Jerk = 25,000/(0.1 × 0.5/2) = 1,000,000 (mm/s
3
)
You can read Axis Variables in the user program to monitor jerk.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
If you want to specify a rotation direction, such as shortest way, using an index table, set the Count
Mode to Rotary Mode. Next, set the operation direction with the Direction input variable to the motion
control instruction for an absolute position. If you set the direction to the shortest way, positive direction,
negative direction, or current direction, you can specify a position that is greater than or equal to the
modulo minimum position and less than the modulo maximum position within one turn of the ring
counter. The Direction input variable will be ignored when the Count Mode is set to Linear Mode. Posi-
tioning will be performed to the target position.
The following table lists the different directions you can specify in the MC Function Module.
Monitoring Jerk
Variable name Data type Meaning Function
_MC_AX[0-255].Cmd.Jerk LREAL Command Current
Jerk
This is the current value of the com-
mand jerk.
9-5-5 Specifying the Operation Direction
Direction Operation
Shortest way Motion starts in the direction where the command current position and the target posi-
tion are closer to each other.
Positive direction Motion starts in the positive direction.
25%25%
Velocity
Time
Time
Time
Acceleration rate
at startup
Jerk
at startup
Target velocity
at startup
Jerk
Acceleration
rate
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