Omron CS1W-MC221 -, Operation Manual

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Acceleration and Deceleration Curves Section 6-19
6-18-2 Related Bits
The following table shows the methods for selecting set values 1 to 4 and
enabling the selected set value. For details, refer to
5-3 PLC Interface Area .
6-19 Acceleration and Deceleration Curves
Overview Mode: Automatic or Manual; Method: System parameters (CX-Motion only)
In positioning operations, the speed is accelerated gradually at the beginning
and decelerated gradually toward the end to achieve smooth movement. For
the MC Unit, either a trapezoidal curve or an S curve can be used as the
acceleration and deceleration curve for the starting and stopping operations
for each axis.
The acceleration/deceleration curve selection, acceleration time, and deceler-
ation time are set using CX-Motion. Refer to the
CX-Motion Online Help for
details on setting methods. The acceleration and deceleration times can also
be set from the ladder program using the IOWR instruction. Refer to
3-3-4
Data Configuration for System Parameters
for addresses.
Trapezoidal Curve With the trapezoidal curve, acceleration is constant during the acceleration
time and deceleration time.
S Curve With the S curve, acceleration during the acceleration time and deceleration
time changes with time. When the initial acceleration speed is reduced for
acceleration or deceleration, the acceleration or deceleration time can be
Bit name MCU
Model
Word Bit Description
X axis Y axis Z axis U axis
Enable MPG Sync Encoder MC421
MC221
n+11
n+7 n+13
n+9 n+15
--- n+17
--- 08
↑
: Begin MPG operation.
1: Continue MPG operation.
↓
: Stop MPG operation.
MPG Sync Encoder Ratio
Specifier 1 14
MPG ratio
specifier
2
1
MPG ratio selection
MPG Sync Encoder Ratio
Specifier 2 15 0 0
0 1
1 0
1 1
Select MPG ratio 1
Select MPG ratio 2
Select MPG ratio 3
Select MPG ratio 4
Acceleration
time
Constant
speed time
Deceleration
time
Time
Speed