Omron NX701-1 User Manual

9-49
9 Motion Control Functions
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
9-5 Common Functions for Single-axis Control
9
9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)
The buffered instruction remains in the buffer until the target position of the current instruction is
reached. The buffered instruction is executed after the current instruction’s target position is reached.
However, motion does not stop at this time. Operation transitions to the next instruction at the velocity
specified with the BufferMode (Buffer Mode Selection) input variable. For relative travel, the final posi-
tion will be the total of the values for both instructions. For absolute travel, the final position will be the
target position of the second multi-execution instruction. The Acceleration/Deceleration Over axis
parameter is used to select one of the following operations for when the target position would be
exceeded with the values that are set in the Maximum Acceleration and Maximum Deceleration axis
parameters.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
• Use rapid acceleration/deceleration.
• Minor fault stop
Precautions for Correct UsePrecautions for Correct Use
In a blending mode, you cannot combine single-axis and synchronized control.
Version Information
For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered even if you
select Use rapid acceleration/deceleration. (Blending is changed to Buffered.) In this case, the
maximum acceleration/deceleration rate is used and the blending operation is continued.
Also, the axis does not stop with an error even if you select Minor fault stop. Similar to the previ-
ous case, the maximum acceleration/deceleration rate is used and the blending operation is con-
tinued.
An example for an Acceleration/Deceleration Over operation is given below.
Use Rapid Acceleration/Deceleration (Blending Is Changed to Buffered)
 For a CPU Unit with Unit Version 1.09 or Earlier
Blending
Current instruction
Current instruction
Multi-execution of instructions
Time
Velocity
Buffered instruction
Buffered instruction
When the current
instruction is completed,
the buffered instruction is
executed.

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English