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

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187
Sample Program Section 7-7
• Position
• Speed, V
1
(pps)
• Acceleration time, Ta (ms)
• Deceleration time, Td (ms)
Next Positioning Operation
• Speed, V
2
(pps)
Case 2: Next Speed is Slower
In this case (V
1
>
V
2
), the calculations will be the same as above except for T
2
,
which is determined according to the following equation.
Actual acceleration time T
2
= (V
1
– V
2
)/(V
MAX
– V
0
)
×
Td
7-7 Sample Program
This section provides a sample program for operating the axes. The PCU
used is an NC113.
The default settings in the PCU are used for the axis parameters. If the values
have been modified by data transfer, for example, the results achieved will
vary from those given below.
7-7-1 Details of Operation
The X axis is moved by relative movement at a speed of 15,000 pps to the
position at 135,000 pulses. The speed is not modified by override.
Speed
Speed V
2
Speed V
1
Initial speed V
0
Speed changed
Actual
acceleration
time T
1
Actual
acceleration
time T
2
Actual
deceleration
time T
3
Time