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

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Acceleration/Deceleration Section 7-6
Example 4: Changing the target position to relative position at –10,000 pulses while moving to relative
position at 10,000 pulses
Note (1) If the speed is changed during direct operation, the motor will be acceler-
ated or decelerated to the new speed.
(2) If an absolute move command to the present position or a relative move
command with position data of 0 is executed (i.e., when a linear move-
ment is made with a travel distance of 0), the Busy Flag will be turned ON
for one cycle at startup.
7-6 Acceleration/Deceleration
If the acceleration/deceleration time designation is set to 0 in an axis parame-
ter area in the operating data area for direct operation, the acceleration time is
the time it takes to reach the maximum speed from the initial speed (which is
also set in the axis parameter area). Similarly, the deceleration time is the time
it takes to go from the maximum speed to the initial speed. If the acceleration/
deceleration time designation is set to 1, the acceleration or deceleration time
is directly set as the time from the present speed to the target speed.
This section describes the acceleration and deceleration times when opera-
tion is performed using a speed command specified for direct operation with
the acceleration/deceleration time designation set to 0.
7-6-1 Calculation of Basic Acceleration/Deceleration Times
The actual acceleration time T
1
, and actual deceleration time T
2
are deter-
mined according to the following equations.
Actual acceleration time, T
1
= (V
1
– V
0
)/(V
MAX
– V
0
)
×
Ta
Actual deceleration time, T
2
= (V
1
– V
0
)/(V
MAX
– V
0
)
×
Td
• The following axis parameter settings are used:
• Maximum speed, V
MAX
(pps)
• Initial speed, V
0
(pps)
• The following operating data area settings are used:
• Position
Position (I+8, I+9)
Speed (I+10, I+11)
RELATIVE
MOVEMENT
(word n, bit 04)
Pulse output
Speed
Time
Positioning Completed
Flag (word n+8, bit 05)
Busy Flag
(word n+8, bit 13)
2710 Hex (10000)
3E8 Hex (1000)
FFFFD8F0 Hex (-10000)
3E8 Hex (1000)