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

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Sample Program Section 8-10
If the speed for the next sequence is faster, the acceleration time is used, and
if the speed for the next sequence is slower, the deceleration time is used.
8-10 Sample Program
This section provides a sample program for starting the X axis. The PCU used
is a NC113.
8-10-1 Operation
Positioning is executed as shown in the following diagram.
The values set for the acceleration and deceleration times and the actual
acceleration and deceleration times are related to the values set for actual tar-
get speeds and the maximum speeds in the axis parameter area. For details,
refer to
Appendix B Estimating Times and Pulses for Acceleration/Decelera-
tion .
Speed
Speed V
2
Speed V
1
Speed V
3
Speed V
0
Acceleration time T
1
Acceleration time T
2
Deceleration time T
3
Deceleration time T
4
Time
Sequence #0 Sequence #1 Sequence #2
Speed
Target speed: 3,000 pps
Speed #21
Acceleration time:
5,000 ms
Acceleration time
#5
Target speed: 4,000 pps
Speed #22
Deceleration time:
6,000 ms
Deceleration speed
#6
Initial speed
1,000 pps
Speed #20
Target position:
25,000 pulses
(relative)
Time
Target position:
30,000 pulses
(relative)
20 ms 10 ms 36 ms