Omron OMNUC W R88A-NCW152-DRT, Manual

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5 Parameter Settings
5.3.4 Speed, Acceleration, and Deceleration
5-28
5
d Double
-
step Linear Acceleration/Deceleration with Constant
Acceleration/Deceleration
With double-step linear acceleration/deceleration, the rate of acceleration/deceleration
changes at the Switch Speed set in parameter Pn824.
In the first step of acceleration/deceleration, the rate of acceleration/deceleration is deter-
mined by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in
parameter Pn822. In the second step, the rate of acceleration/deceleration is determined by
the difference between the Maximum Speed set in parameter Pn843 and the Switch Speed
set in parameter Pn824 along with the Second Acceleration/Deceleration Time set in param-
eter Pn825.
The time T required to reach the constant speed in the positioning operation can be calcu-
lated using the following formulas.
T1 [ms] = Pn822 × (Pn824/Pn843)
T2 [ms] = Pn825
×
(Pn821 - Pn824)/(Pn843 - Pn824)
T [ms] = T1 + T2
If this acceleration/deceleration pattern is used, the rate of acceleration/deceleration will
remain constant even if the Speed set in Pn821 is changed.
Fig. 5.2 Double - step Linear Acceleration/Deceleration with Constant Acceleration/
Deceleration
Table 5.9 Related Parameters
Object Attribute No. Name
0x64
56 Pn826
Acceleration/Deceleration Type (= 2)
58 Pn829
Filter Selection (= 0)
51 Pn821
Speed [
×
1,000 steps/min]
52 Pn822
Acceleration Time [ms]
54 Pn824
Switch Speed [
×
1,000 steps/min]
55 Pn825
Second Acceleration/Deceleration Time [ms]
73 Pn843
Maximum Speed [
×
1,000 steps/min]
Pn822 Pn822
Pn824
Pn843
Speed
Time
Pn821
Pn825 Pn825