Omron NX701-1

9 Motion Control Functions
9-50
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
 For a CPU Unit with Unit Version 1.10 or Later
The operation with the following setting is shown below.
The operation will be the same even if you select Minor fault stop.
Here, BufferMode is set to Blending Next.
Use Rapid Acceleration/Deceleration
 BufferMode Is Set to Blending Previous
 BufferMode Is Set to Blending Next
TimeMulti-execution of
instructions
Transit velocity
Target velocity of the
buffered instruction
The maximum acceleration rate is used, and
execution of the buffered instruction starts when the
target position of the current instruction is exceeded.
After switching the instruction, the acceleration rate
of the buffered instruction is used.
Current
instruction
Buffered instruction
Current instruction
Buffered instruction
Stopping at the target position is not possible for
the deceleration rate of the buffered instruction.
Rapid deceleration is therefore used to stop at the
target position.
Current instruction
Buffered instruction
Multi-execution of instructions
Velocity
Time
Transit velocity
used.
Current instruction
Buffered instruction
Multi-execution of instructions
Velocity Current instruction Buffered instruction
Time
Transit velocity used.
With the acceleration rate of the
current instruction, it is impossible
to reach the target velocity of the
buffered instruction at the target
position.
Rapid acceleration is therefore
used to reach the target velocity
at the target position.