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

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Estimating Times and Pulses for Acceleration/Deceleration Appendix B
A) Calculate the deceleration rate to reduce the speed from 400 pps to 0 pps in 500 ms.
Deceleration rate (pps
2
) = 400 pps/0.5 s = 800 pps
2
B) Calculate the time it takes to decelerate from 10,000 pps to 0 pps at this deceleration rate.
Time (s) = 10,000 pps/800 pps
2
= 12.5 s = 12,500 ms
C) Calculate the amount of movement required to decelerate from 10,000 pps to 0 pps within this amount of
time (12,500 ms).
Movement amount (pulses) = = 62,500 pulses
D) Calculate the deceleration starting limit position at which the speed can be changed.
Deceleration starting limit position = 216,000
−
62,500 = 153,500 pluses
In this case, the speed change was attempted at around 193,000 pulses so the above deceleration starting
limit position has been exceeded and the speed change will not be possible. However, at less than 153,500
pulses, the speed can be changed as shown in
Figure 2 .
12.5 s
×
10,000 pps
2