Omron CJ1W-MA - REV 10-2008, Operation Manual

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Acceleration and Deceleration Operations Section 7-4
Acceleration/deceleration curves cannot be set for speed control or torque
control. Continuous speed changes using speed control, however, are possi-
ble by setting the
Soft Start Acceleration Time and Soft Start Deceleration
Time in the Servo Parameters.
7-4-2 Acceleration/Deceleration Settings
The acceleration/deceleration settings are set for each axis according to the
Servo Parameters for acceleration/deceleration. Set these Servo Parameters
using WRITE/SAVE SERVO PARAMETER before sending operating com-
mands.
Do not change the acceleration/deceleration constants during axis operation
(i.e., while the Busy Flag for the corresponding axis is ON due to execution of
an operating command). Changing parameters while the axis is operating
may result in incorrect positioning or other malfunction.
G-series Servo Parameters
Acceleration/Deceleration Constants
Note When using G-series Servo Drives, one-step linear acceleration/deceleration
curves are set using only Pn107 and Pn10A.
When the parameter is set to 0, it is taken as 1.
The setting will be used after conversion to unsigned 16-bit data (0 to 65536).
Examples:
−
32768 is converted to 8000 hex = 32768
−
1 is converted to FFFF hex = 65535
DECELERATION STOP --- Decelerating to a stop
Errors with DECELERATION STOP --- When errors occur
Operating command Acceleration operation Deceleration operation
Type Parameter
No.
Parameter name Unit Setting
range
Parameter
size
Default
setting
G Series
Acceleration/
deceleration
constants Pn107 Linear acceleration
constant 10,000 com-
mand units/s
2
−
32768
to 32767
2 100 Supported
Pn10A Linear deceleration
constant 10,000 com-
mand units/s
2
−
32768
to 32767
2 100 Supported