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

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Acceleration/Deceleration Section 8-9
8-9-2 Calculating Accel/Decel Times for Continuous Positioning
The method for calculating actual acceleration and deceleration times when
performing continuous operation where the completion codes of the position-
ing sequences are set to continuous is given below.
As an example, the actual acceleration and deceleration times for positioning
sequences 0 to 2 shown in the diagram below are calculated.
Actual acceleration time, T
1
= (V
1
– V
0
)/(V
MAX
– V
0
)
×
Ta
1
Actual acceleration time, T
2
= (V
2
– V
1
)/(V
MAX
– V
0
)
×
Ta
1
Actual deceleration time, T
3
= (V
2
– V
3
)/(V
MAX
– V
0
)
×
Td
2
Actual deceleration time, T
4
= (V
3
– V
0
)/(V
MAX
– V
0
)
×
Td
3
• The following axis parameter settings are used:
• Maximum speed, V
MAX
(pps)
• The following data, specified in each positioning sequence, is used:
No. 0
• Position
• Initial speed, V
0
(pps)
• Speed, V
1
(pps)
• Acceleration time, Ta
1
(ms)
• Deceleration time, Td
1
(ms)
No. 1
• Position
• Initial speed, V
0
(pps)
• Speed, V
2
(pps)
• Acceleration time, Ta
2
(ms)
• Deceleration time, Td
2
(ms)
No. 2
• Position
• Initial speed, V
0
(pps)
• Speed, V
3
(pps)
• Acceleration time, Ta
3
(ms)
• Deceleration time, Td
3
(ms)
As can be seen from the equations above, the acceleration and deceleration
time settings for the current sequence are used until the next sequence starts.