Omron NX701-1 User Manual

9 Motion Control Functions
9-62
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
You can read Axes Group Variables from the user program to monitor the interpolation velocity.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].
Multi-axes coordinated control performs control on the path for the interpolation acceleration and inter-
polation deceleration rates. The unit is the same as for single axes, command units/s
2
.
Monitoring Velocities
Variable name Data type Meaning Function
_MC_GRP[0-63].Cmd.Vel LREAL Command Interpo-
lation Velocity
This is the current value of the com-
mand interpolation velocity. A plus
sign is added during travel in the pos-
itive direction, and a minus sign is
added during travel in the negative
direction.
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated
Control
Axis Parameters That Are Related to Interpolation Acceleration and
Interpolation Deceleration
Parameter name Function Setting range Default
Maximum Interpolation
Acceleration
Set the maximum interpolation acceleration
for the path. Set 0 for no interpolation accel-
eration limit.
(Unit: command units/s
2
)
Non-negative long
reals
0
Maximum Interpolation
Deceleration
Set the maximum interpolation deceleration
for the path. Set 0 for no interpolation decel-
eration limit.
(Unit: command units/s
2
)
Non-negative long
reals
0
Interpolation Accelera-
tion/Deceleration Over
Set the operation for when the maximum
interpolation acceleration/deceleration rate
would be exceeded after excessive acceler-
ation/deceleration during accelera-
tion/deceleration control of the axes group
because stopping at the target position is
given priority.
0: Use rapid acceleration/deceleration.
(Blending is changed to Buffered.)
*1
1: Use rapid acceleration/deceleration.
2: Minor fault stop *
2
0 to 2 0
Interpolation Accelera-
tion Warning Value
Set the percentage of the maximum inter-
polation acceleration at which to output an
interpolation acceleration warning. No inter-
polation acceleration warning is output if 0
is set.
(Unit: %)
0 to 100 0
Interpolation Decelera-
tion Warning Value
Set the percentage of the maximum inter-
polation deceleration rate at which to output
an interpolation deceleration warning. No
interpolation deceleration warning is output
if 0 is set.
(Unit: %)
0 to 100 0

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English