![background image](http://html1.mh-extra.com/html/omron/cs1w-213-rev-02-2008/cs1w-213-rev-02-2008_operation-manual_742355210.webp)
185
Acceleration/Deceleration
Section 7-6
• Speed, V
1
(pps)
• Acceleration time, Ta (ms)
• Deceleration time, Td (ms)
Note
If override is enabled (i.e., the Override Enable Bit is ON), the speed will be as
follows:
Speed = Operating data area’s speed setting
×
Operating data area’s override
setting
÷
100.
7-6-2
Calculation of Acceleration/Deceleration Times for Continuous
Positioning
The actual acceleration and deceleration times when a command for a new
positioning operation is made during direct operation can be calculated in the
way shown below.
Case 1: Speed for the Next Positioning Operation is Faster
Actual acceleration time, T
1
= (V
1
– V
0
)/(V
MAX
– V
0
)
×
Ta
Actual acceleration time, T
2
= (V
2
– V
1
)/(V
MAX
– V
0
)
×
Ta
Actual deceleration time, T
3
= (V
2
– 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:
First Command
• Position
• Speed, V
1
(pps)
• Acceleration time, Ta (ms)
• Deceleration time, Td (ms)
Speed
Maximum speed
V
MAX
specified with
parameters
Speed V
1
Initial speed V
0
specified with
parameters
Actual
acceleration
time T
1
Actual
deceleration
time T
2
Time
Acceleration
time Ta
Deceleration
time Td
Summary of Contents for CS1W-213 - REV 02-2008
Page 2: ...CS1W NC113 213 413 133 233 433 Position Control Units Operation Manual Revised February 2008 ...
Page 3: ...iv ...
Page 13: ...xiv ...
Page 15: ...xvi ...
Page 19: ...xx ...
Page 43: ...18 Basic Operational Flow Section 2 1 ...
Page 87: ...62 Servo Relay Unit Section 3 7 ...
Page 199: ...174 Z phase Margin Section 6 8 ...
Page 217: ...192 Sample Program Section 7 7 ...
Page 285: ...260 Easy Backup Function Ver 2 0 or later Section 9 11 ...
Page 377: ...352 Common Parameter Area Appendix C ...