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9 Motion Control Functions
9-30
NJ-series CPU Unit Motion Control User’s Manual (W507)
The acceleration and deceleration rates used in an actual positioning motions are specified by the
Acceleration
(Acceleration Rate) and
Deceleration
(Deceleration Rate) input variables to the motion
control instruction.
You can read Axis Variables in the user program to monitor acceleration and deceleration rates.
If you specify a short travel distance or a low acceleration/deceleration rate, the target velocity may not
be reached. If the target position is exceeded after re-execution of the motion control instruction with
the newly updated acceleration or deceleration rate, positioning is performed at an acceleration or
deceleration rate that will enable stopping at the target position.
Specifying Acceleration and Deceleration Rates for Axis Operation
Monitoring Acceleration and Deceleration Rates
Variable name
Data type
Meaning
Function
_MC_AX[0-63].Cmd.AccDec
LREAL
Command Current
Accelera-
tion/Deceleration
This is the current value of the com-
mand acceleration/deceleration rate.
A plus sign is added for acceleration,
and a minus sign is added for decel-
eration.
Example of Acceleration/Deceleration Operation
A
A
D
Ta2
Td
Ta1
Ta1: Actual acceleration time
A:
Acceleration rate
When Starting
Ta2: Actual acceleration time
A:
Acceleration rate
For Velocity Changes
Td: Actual deceleration time
D: Deceleration rate
When Decelerating
Time
Velocity
(1) Target velocity
at startup
(2) Target velocity
after velocity
change
Maximum velocity
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...