Download NJ-series CPU Unit Motion Control User`s Manual

9 Motion Control Functions
9-7-4
Re-executing Motion Control Instructions for Multi-axes
Coordinated Control
If you re-execute a linear interpolation or circular interpolation instruction, an instruction error will occur.
Execute
Busy
Active
Done
CommandAborted
Error
ErrorID
Error code
Interpolation velocity
Time
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-series Motion
Control Instructions Reference Manual (Cat. No. W508).
9-7-5
Multi-execution (Buffer Mode) of Motion Control Instructions for
Multi-axes Coordinated Control
(2)
(3)
(4)
Linear interpolation: (1), (3), (5), and (7)
Circular interpolation: (2), (4), and (6)
(5)
(6) (7)
(1)
Point B
Point A
You can set the BufferMode input variable to motion control instruction to select one of the same Buffer
Modes as are supported for single-axis operations. There are a total of eight instruction buffers for axes
groups. Each axes group has one buffer for the instruction currently in operation and seven buffers for
multi-execution instructions. Multi-execution of instruction cannot be used from an axis operation
instruction to an axes group operation instruction and vice-versa.
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-61
9
9-7-4 Re-executing Motion Control Instructions for Multiaxes Coordinated Control
You can perform multi-execution for multi-axes coordinated control in axes groups the same way as you
can for axis operations. You can perform path control for multiple continuous lines and/or arcs if you use
Buffer Mode under multi-axes coordinated control.
9-7 Common Functions for Multi-axes Coordinated Control
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