7-6
Section
Acceleration/Deceleration
165
Example 4: Changing the relative position to --10,000 pulses while moving to relative position at
10,000 pulses
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)
Note
If the speed is changed during direct operation, the motor will be accelerated or
decelerated to the new speed.
7-6
Acceleration/Deceleration
The acceleration time setting specified in the operating data area for direct
operation is the time it would take to go from the initial speed set in the axis
parameter area to the maximum speed, also set in the axis parameter area. Sim-
ilarly, the deceleration time setting is the time it would take to go from the maxi-
mum speed to the initial speed. The actual acceleration and deceleration times
(i.e., the times taken to go between the initial speed and the target speed) can be
calculated from these settings. Details of these calculations are given below.
7-6-1 Calculation of Basic Acceleration/Deceleration Times
The actual acceleration time T
1
, and actual deceleration time T
2
are determined
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
•
Speed, V
1
(pps)
•
Acceleration time, Ta (ms)
Summary of Contents for CS1W-NC113 - REV 02-2008
Page 1: ...CS1W NC113 213 413 133 233 433 Position Control Units ...
Page 2: ...iv ...
Page 4: ...vi ...
