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

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Acceleration and Deceleration Operations Section 7-4
Exponential Acceleration/Deceleration Curve
The acceleration/deceleration for the exponential acceleration/deceleration
curve is determined by the Servo Parameters
Exponential Accelera-
tion/Deceleration Bias (Pn810) and Exponential Acceleration/Deceleration
Time Constant (Pn811). The speed set in Exponential Acceleration/Decelera-
tion Bias (Pn810) is used as the start speed. The time until reaching 63.2% of
the difference between the speed command value and the start speed is set
in the
Exponential Acceleration/Deceleration Time Constant (Pn811).
When an exponential acceleration/deceleration curve is used, the accelera-
tion/deceleration time is always fixed regardless of the speed command value.
S-curve (Movement Average) Acceleration/Deceleration Curve
The S-curve acceleration/deceleration curve obtains the moving average
using the Servo Parameter
Movement Average Time for W-series Servo
Drives (Pn812) or Moving Average Time for G-series Servo Drives (Pn10E)
for the linear acceleration/deceleration curve specified in Pn80A to Pn80F
(Pn106 to Pn10B when using a G-series Servo Drive) to smooth out sudden
changes in the acceleration/deceleration (acceleration/deceleration curve
angle). The acceleration/deceleration for the S-curve acceleration/decelera-
tion curve will not exceed the maximum acceleration/deceleration of the linear
Speed
Pn811 Pn811
Pn810
Speed command v
alue
Time
(Speed command value
−
Pn810)
×
63.2%
(Speed command value
−
Pn810)
×
63.2%
Speed
Speed command
value
The slope of the acceleration/deceleration speed for the S-
curve acceleration/deceleration curve is smaller than the
maximum acceleration/deceleration of the linear
acceleration/deceleration curve.
Time
Pn812
(Pn10E)
Pn80C
Pn80F
Pn80A
(Pn107)
Pn80B
Pn80E
Pn80D
(Pn10A)
Pn812
(Pn10E)
Note: Use the parameter numbers
in the parentheses for G-
series Servo Drives.