9 Motion Control Functions
9-64
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
If you re-execute a linear interpolation or circular interpolation instruction, an instruction error will occur.
You can change the deceleration rate if you re-execute the MC_GroupStop instruction, but you cannot
change the jerk in this way.
If you re-execute the MC_GroupReset instruction, the re-execution command will be ignored and error
reset processing will continue.
For details on re-executing motion control instructions, refer to each instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).
9-7-4 Re-executing Motion Control Instructions for Multi-axes
Coordinated Control
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt: Specified jerk
Jt
-Jt
Vt
Time
Time
Time
Jerk
Deceleration
rate
Acceleration
rate
Interpolation
velocity
At
-Dt
Busy
CommandAborted
Done
Error
ErrorID
Active
16#0000
Time
Error code
Interpolation velocity
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