Omron CS1W-NC113 - REV 02-2008, Manual

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8-9 Section Acceleration/Deceleration
199
As an example, the actual acceleration and deceleration times for positioning
sequences 0 to 2 shown in the diagram below are calculated.
Actual acceleration time, T
1
= (V
1
-- V
0
)/(V
MAX
-- V
0
)
×
Ta
1
Actual acceleration time, T
2
= (V
2
-- V
1
)/(V
MAX
-- V
0
)
×
Ta
1
Actual deceleration time, T
3
= (V
2
-- V
3
)/(V
MAX
-- V
0
)
×
Td
2
Actual deceleration time, T
4
= (V
3
-- V
0
)/(V
MAX
-- V
0
)
×
Td
3
•
The following axis parameter settings are used:
•
Maximum speed, V
MAX
(pps)
•
Initial speed, V
0
(pps)
•
The following data, specified in each positioning sequence, is used:
No. 0
•
Position
•
Speed, V
1
(pps)
•
Acceleration time, Ta
1
(ms)
•
Deceleration time, Td
1
(ms)
No. 1
•
Position
•
Speed, V
2
(pps)
•
Acceleration time, Ta
2
(ms)
•
Deceleration time, Td
2
(ms)
No. 2
•
Position
•
Speed, V
3
(pps)
•
Acceleration time, Ta
3
(ms)
•
Deceleration time, Td
3
(ms)
As can be seen from the equations above, the acceleration and deceleration
time settings for the current sequence are used until the next sequence starts. If
the speed for the next sequence is faster, the acceleration time is used, and if the
speed for the next sequence is slower, the deceleration time is used.
Speed
Speed V
2
Speed V
1
Speed V
3
Speed V
0
Acceleration time T
1
Acceleration time T
2
Deceleration time T
3
Deceleration time T
4
Time
Sequence #0 Sequence #1 Sequence #2