Omron CJ1W-C113 - REV 02-2008, Operation Manual

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Acceleration/Deceleration Section 7-6
Example 4: Changing the target position to relative position at –10,000 pulses while moving to relative
position at 10,000 pulses
Note 1. If the speed is changed during direct operation, the motor will be acceler-
ated or decelerated to the new speed.
2. If an absolute move command to the present position or a relative move
command with position data of 0 is executed (i.e., when a linear movement
is made with a travel distance of 0), the Busy Flag will be turned ON for one
cycle at startup.
7-6 Acceleration/Deceleration
If the acceleration/deceleration time designation parameter in the axis param-
eter area is set to 0, the acceleration time specified in the operating data area
for direct operation will be the time required to go from the initial speed set in
the axis parameter area to the maximum speed and the deceleration time will
be the time required to go from the maximum speed to the initial speed. If the
acceleration/deceleration time designation parameter in the axis parameter
area is set to 1, the acceleration and deceleration times will be the times
required to go from the present speed to the target speed.
The following is an explanation of the acceleration and deceleration times
when speed commands are executed for direct operation with the accelera-
tion/deceleration time designation parameter in the axis parameter area set to
0.
7-6-1 Calculation of Basic Acceleration/Deceleration Times
The actual acceleration time T
1
, and actual deceleration time T
2
are deter-
mined according to the following equations.
Actual acceleration time, T
1
= (V
1
– V
0
)/(V
MAX
– V
0
)
×
Ta
Actual deceleration time, T
2
= (V
1
– V
0
)/(V
MAX
– V
0
)
×
Td
• The following axis parameter settings are used:
• Maximum speed, V
MAX
(pps)
• Initial speed, V
0
(pps)
Position (I+8, I+9)
Speed (I+10, I+11)
RELATIVE
MOVEMENT
(word n, bit 04)
Pulse output
Speed
Time
Positioning Completed
Flag (word n+8, bit 05)
Busy Flag
(word n+8, bit 13)
2710 Hex (10000)
3E8 Hex (1000)
FFFFD8F0 Hex (-10000)
3E8 Hex (1000)