Omron CS1W-213 - REV 02-2008, Operation Manual

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89
Axis Parameter Area Section 4-3
The S-curve used for the PCU is the tertiary curve that joins the initial speed
and the target speed. If an S-curve is used, the maximum acceleration/decel-
eration will be 1.5 times that of the trapezoidal curve with the same accelera-
tion/deceleration time.
Origin Search Acceleration Time
Word Address and Enable
Timing The word addresses and enable timing for the origin search acceleration time
setting are shown below.
Speed (pps)
Maximum speed
Target speed
Initial speed
Acceleration
time setting Deceleration
time setting
Time
Actual axis
acceleration time Actual axis
deceleration time
Speed
S-curve acceleration
Time
Word
(PCU internal address)
Name Enable timing
NC1 @ 3 NC2 @ 3 NC4 @ 3
X axis Y axis Z axis U axis
m+20
(0014) m+48
(0030) m+76
(004C) m+104
(0068) Origin search acceler-
ation time (rightmost
word) With origin search
operation command
(memory operation
operating command)
m+21
(0015) m+49
(0031) m+77
(004D) m+105
(0069) Origin search acceler-
ation time (leftmost
word)