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

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Speed Control Section 10-5
The Receiving Command Flag turns ON for at least one cycle time when the
command to start speed control is received by the PCU. Use the Receiving
Command Flag when starting and changing option commands to control the
ON/OFF timing for SPEED CONTROL.
During speed control, bits 07 and 08 in the Servo Status Flags (word b+1) of
the Axis Operating Input Memory Area function as the Speed Conformity Flag
and Zero Speed Flag respectively.
The command present position that is output during speed control is calcu-
lated from the feedback position and the position deviation that is inferred
from the current speed.
Acceleration and Deceleration during Speed Control
When SPEED CONTROL is executed, the Servo Drive performs stepped
speed control from the present feedback speed to the target speed specified
in the speed command value for speed control. Apart from smoothly increas-
ing/decreasing the speed command value (for speed control) when starting
speed control, shock in acceleration/deceleration when performing speed
control can also be minimized by setting the Servo Parameters
Soft Start
Acceleration Time and Soft Start Deceleration Time to create a trapezoidal
speed curve.
G-series Acceleration/Deceleration Constants for Speed Control
W-series Acceleration/Deceleration Constants for Speed Control
The Soft Start Acceleration Time and Soft Start Deceleration Time are set
respectively as the acceleration time and deceleration time between speed 0
(speed command value for speed control: 0%) and the momentary maximum
rotation speed of the Servomotor (speed command value for speed control:
100%).
The acceleration time and deceleration time for the actual target speed are as
follows:
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn058 Soft start acceleration time 2 ms 0 to 5000 2 0
--- Pn059 Soft start deceleration time 2 ms 0 to 5000 2 0
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn305 Soft start acceleration time ms 0 to 10000 2 0
--- Pn306 Soft start deceleration time ms 0 to 10000 2 0
Pn305
0
Actual acceleration time
Servomotor speed
+r/min
Actual deceleration time
Time
Pn306
Actual acceleration (deceleration) time =
×
Soft start acceleration (deceleration) time
Speed command value for speed control (r/min)
Momentary maximum rotation speed (r/min)
Momentary maximum
rotation speed (See note.)
Speed command value for
speed control