Omron NJ501-1300, User Manual

Page: 211 / 432

9-29
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-5 Co
mmo
n F
u
n
ctio
n
s f
o
r Sin
g
le-axis Co
ntr
o
l
9
9-5-3
A
cceleration a
nd Decele
ration
You can read Axis Variables in the user program to monitor velocities.
Acceleration rates and deceleration rates are given in command units/s
2
. The command unit is the
value obtained from unit conversion of the position display unit and the electronic gear.
Monitoring Velocities
Variable name Data type Meaning Function
_MC_AX[0-63].Cmd.Vel LREAL Command Current
Velocity This is the current value of the command
velocity. A plus sign is added during
travel in the positive direction, and a
minus sign is added during travel in the
negative direction.
_MC_AX[0-63].Act.Vel LREAL Actual Current
Velocity This is the actual current velocity. A plus
sign is added during travel in the positive
direction, and a minus sign is added dur-
ing travel in the negative direction.
9-5-3 Acceleration and Deceleration
Unit of Acceleration and Deceleration Rates
Axis Parameters That Are Related to Acceleration and Deceleration
Parameter name Function Setting range Default
Maximum Acceleration Set the maximum acceleration rate for an axis
operation command. There will be no limit to
the acceleration rate if 0 is set.
(Unit: command units/s
2
)
Non-negative long
reals 0
Maximum Deceleration Set the maximum deceleration rate for an axis
operation command. There will be no limit to
the deceleration rate if 0 is set.
(Unit: command units/s
2
)
Non-negative long
reals 0
Acceleration/Decelera-
tion Over Set the operation for when the maximum accel-
eration/deceleration rate would be exceeded
after excessive acceleration/deceleration dur-
ing acceleration/deceleration control of the axis
because stopping at the target position is given
priority.
0: Use rapid acceleration/deceleration. (Blend-
ing is changed to Buffered.)
1: Use rapid acceleration/deceleration.
2: Minor fault stop
0 to 2 0
Acceleration Warning
Value Set the percentage of the maximum accelera-
tion rate at which to output an acceleration
warning for the axis. No acceleration warning is
output if 0 is set.
(Unit: %) 0 to 100 0
Deceleration Warning
Value Set the percentage of the maximum decelera-
tion rate at which to output a deceleration warn-
ing for the axis. No deceleration warning is
output if 0 is set.
(Unit: %) 0 to 100 0