At
-Dt
Jt
-Jt
Vt
Time
Time
Time
Jer
k
Deceleration rate
Acceleration rate
Interpolation velocity
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt:
Specified jerk
Additional Information
• If 0
is specified for Acceleration (Acceleration Rate), the specified interpolation velocity is
used immediately.
• If 0 is specified for Deceleration (Deceleration Rate), the axis stops immediately. However, if
the Buffer Mode is set to Blending, axis operation will change to the interpolation velocity
specified by the next operation without stopping. For details, refer to BufferMode (Buffer
Mode Selection) on page 4-19.
• When the Acceleration (Acceleration Rate) or Deceleration (Deceleration Rate) is 0, the set-
ting of Jerk is disabled.
CoordSystem (Coordinate System)
• CoordSystem specifies the coordinate system to use for circular interpolation.
•
Only an axis coordinate system (ACS) consisting of two or more axes is supported.
BufferMode (Buffer Mode Selection)
• This variable specifies how to join the axis motions for this interpolation instruction and the previous
interpolation instruction.
• There are the following six settings.
Buffer Mode Selec-
tion
Description
Aborting Aborts the instruction being executed and switches to this instruction.
If the direction of axis motion is reversed by switching instructions, the motion will be re-
versed according to the Operation Selection at Reversing axis parameter
.
Buffered Buffers this instruction and executes it automatically after the current instruction is com-
pleted.
4 Axes Group Instructions
4-56
NY-series Motion Control Instructions Reference Manual (W561)
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