Omron NX701-1 User Manual

9-59
9 Motion Control Functions
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
9-6 Multi-axes Coordinated Control
9
9-6-6 Overrides for Multi-axes Coordinated Control
 Stopping Due to Start of MC Test Run
All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from the
Sysmac Studio.
 Stopping Due to Change in CPU Unit Operating Mode
All axes will decelerate to a stop at their maximum deceleration when the CPU Unit operating mode
changes.
Additional Information
• If you execute the MC_GroupDisable (Disable Axes Group) instruction during axes group
operation, the axes in the group will decelerate to a stop at their maximum deceleration rates.
• If you execute the MC_Stop instruction while an axes group is in operation, an error will occur
for the axes and axes group and the axes group operation will decelerate to a stop with inter-
polation. The interpolation deceleration rate is determined by the deceleration rate that is
specified for the controlling instruction.
• When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE
during axes group motion, the MC Function Module immediately stops the command value for
that axis and turns OFF the Servo. When the Servo is turned OFF, the Servo Drive or other
device will operate according to the settings in the Servo Drive or other device. Other axes in
that axes group will stop with the stop method that is set in the Axes Group Stop Method axes
group parameter. An error will occur for the axes group if this happens.
• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The CommandAborted output variable from the instructions remain
TRUE and the Servo remains ON.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variable Command-
Aborted from the current motion control instructions change to TRUE.
• The save process will continue during a save for the MC_SaveCamTable Instruction.
• The generation process will continue when generation of the cam table is in progress for the
MC_GenerateCamTable (Generate Cam Table) instruction.
You can use the MC_GroupSetOverride (Set Group Overrides) instruction to set override factors for
multi-axes coordinated control of the axes group in the current interpolation operation. The velocity
override factor is set as a percentage of the target velocity for interpolation. It can be set between 0%
and 500%. If an override factor of 0% is set for the interpolation target velocity, operating status will con-
tinue with the axis stopped at a velocity of 0. The set override factor is read as long as the overrides are
enabled. If the overrides are disabled, the override factors return to 100%. If the maximum interpolation
velocity is exceeded when an override factor is changed, the maximum interpolation velocity for the
axes group is used.
9-6-6 Overrides for Multi-axes Coordinated Control

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English