9-63
9 Motion Control Functions
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
9-7 Common Functions for Multi-axes Coordinated Control
9
9-7-3 Jerk for Multi-axes Coordinated Control
*1 For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered. Refer to 9-5-7 Multi-execu-
tion of Motion Control Instructions (Buffer Mode) for details.
*2 For a CPU Unit with unit version 1.10 or later, the axis does not stop with an error when Blending is used for
operation. Refer to 9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) for details.
The interpolation acceleration and interpolation deceleration rates used in an actual positioning motion
are specified by the Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input vari-
ables to the motion control instruction.
You can read Axes Group Variables in the user program to monitor interpolation acceleration and inter-
polation deceleration rates.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].
Jerk for multi-axes coordinated control is used to reduce shock and vibration on the machine by
smoothing the interpolation acceleration/deceleration rate along the interpolation path into an S-curve.
The unit is the same as for single axes, command units/s
3
.
The jerk used in an actual interpolation is specified by the Jerk input variable to the motion control
instruction.
The acceleration/deceleration rate will change at a constant rate over the range where jerk is specified.
The command interpolation velocity will form a smooth S-curve. A fixed interpolation acceleration rate
is used in areas where the jerk is set to 0. This command interpolation velocity will form a straight line.
Specifying an Interpolation Acceleration and Interpolation
Deceleration for an Axes Group
Monitoring Interpolation Acceleration and Interpolation Deceleration
Rates
Variable name Data type Meaning Function
_MC_GRP[0-63].Cmd.AccDec LREAL Command Interpo-
lation Accelera-
tion/Deceleration
This is the current value of the com-
mand interpolation accelera-
tion/deceleration rate. A plus sign is
added for acceleration, and a minus
sign is added for deceleration.
9-7-3 Jerk for Multi-axes Coordinated Control
Specifying Jerk for Axes Group Motion
Jerk Example (Setting Other than 0)
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