9 Motion Control Functions
9-66
NJ/NX-series CPU Unit Motion Control Userās Manual (W507)
Multi-execution for axes groups is done so that the interpolation velocity remains continuous between
instructions. If continuous operation is performed with an instruction with a travel distance of 0, the
velocity changes for the axes will not be continuous.
Example: Interpolation Velocity and Velocities of Axes for Two-axis Cartesian
Coordinates
The multi-execution instruction remains in the buffer until the current operation is finished. The buffered
instruction is executed after the operation for the current instruction is normally ended.
Blending for axes groups works in the same way as blending for single-axis operations. The buffered
instruction remains in the buffer until the target position of the current instruction is reached. The buff-
ered instruction is executed after the target position of the current instruction is reached. The axes do
not stop at the target position. The two motions are blended together at the interpolation velocity speci-
fied with the BufferMode input variable.
The Interpolation Acceleration/Deceleration Over axes group parameter is used to select one of the fol-
lowing operations for when the acceleration/deceleration that is specified in the buffered instruction
would exceed the target position.
ā¢ Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
Buffered
Blending
X coordinate
X-axis motion
Y-axis motion
Y coordinate
Ta
Fx
Td
F
Fy
Time
Buffered instruction
The target position is reached
and the next command is
executed after the current
operation is normally finished.
Current instruction
āMulti-execution timing
Velocity
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