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

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Acceleration/Deceleration Section 8-9
8-9-1 Calculating Basic Acceleration/Deceleration Times
The method for calculating actual acceleration and deceleration times when
performing INDEPENDENT START operation or operation where the comple-
tion code of the positioning sequence is terminating, speed control, or inter-
rupt feeding is given below.
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)
• The following data, specified by data number in the positioning sequence,
is used:
• Position
• Initial speed, V
0
(pps)
• Speed, V
1
(pps)
• Acceleration time, Ta (ms)
• Deceleration time, Td (ms)
Note If override is enabled (i.e., the Override Enable Bit is ON), the speed will be as
follows:
Speed designation = Positioning sequence’s speed setting
×
Operating data
area’s override setting
÷
100.
Speed
Maximum speed
V
MAX
specified with
parameters
Speed V
1
Initial speed
V
0
specified with
sequence
Actual
acceleration
time T
1
Actual
deceleration
time T
2
Time
Acceleration
time Ta
Deceleration
time Td