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

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27
Starting Operation Section 2-2
The Servomotor starts rotating up to the target speed of 100,000 pulses/s and
stops at 500,000 pulses. The acceleration/deceleration speed depends on the
Servo Parameters set for the Servo Drive. When a W-series Servo Drive and
the JUSP-NS115 are used together, the acceleration and deceleration speeds
are set in the Servo Parameters as follows:
In this operation example, the default settings are used for the acceleration/
deceleration constants. With the default settings, the acceleration/decelera-
tion movement uses a linear acceleration/deceleration waveform, and the
slope of the acceleration and deceleration is 1,000,000 pulses/s
2
.The target
speed is 100,000 pulses/s, so after starting, the motor accelerates up to the
target speed in 0.1 s, and decelerates to a stop from the target speed in 0.1 s.
The present position of each axis can be monitored in the Axis Operating
Input Memory Areas.
In this operation example, the Common Parameters are set so that the begin-
ning word of the Axis Operating Input Memory Area for axis 1 is allocated in
CIO 500. Therefore, the present position (feedback present position) for axis 1
is allocated in CIO 506 and CIO 507.
Parameter
No.
Parameter name Default Unit Setting in this
example
Pn80A First-step linear
acceleration con-
stant 100 10,000 command
units/s
2
Not used.
Pn80B Second-step linear
acceleration con-
stant 100 10,000 command
units/s
2
1,000,000
pulses/s
2
Pn80C Acceleration con-
stant switching
speed 0 100 command
units/s Default settings
used.
Pn80D First-step linear
deceleration con-
stant 100 10,000 command
units/s
2
Not used.
Pn80E Second-step linear
deceleration con-
stant 100 10,000 command
units/s
2
1,000,000
pulses/s
2
Pn80F Deceleration con-
stant switching
speed 0 100 command
units/s Default settings
used.
Speed
Pn80B
(Second-step Linear Acceleration Constant)
Pn80C
(Acceleration Constant Switching Speed)
Pn80E
(Second-step Linear Deceleration Constant)
Pn80F
(Deceleration Constant Switching Speed)
In this operation example, the acceleration/deceleration constant switching
speed is 0. Therefore, from startup, the motor accelerates according to the
Second-step Linear Acceleration Constant and decelerates using the
Second-step Linear Deceleration Constant until stopping. The First-step
Acceleration/Deceleration Constants are not used.
Time
CIO 506
CIO 507
Feedback present position
(rightmost word)
Feedback present position (leftmost word)