Omron OMNUC W R88A-NCW152-DRT, Manual

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5.3 Parameter Details
5-33
5
i S
-
curve Acceleration/Deceleration with Constant Acceleration/
Deceleration
With S-curve acceleration/deceleration, the rate of acceleration/deceleration is determined
by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in parameter
Pn822, just as in the single-step linear acceleration/deceleration pattern described in
c
. In
this case, however, a filter is applied when starting and stopping, and applied before and
after reaching the Speed set in parameter Pn821, to round the corners of the acceleration/
deceleration. The time the corners are rounded is determined by the Time Constant of Mov-
ing Average set in parameter Pn842.
The time T required to reach the Speed set in parameter Pn821 in the positioning operation
can be calculated using the following formula.
T [ms] = Pn842 + Pn822
×
(Pn821/Pn843)
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. 5.7 S - curve Acceleration/Deceleration with Constant Acceleration/Deceleration
Table 5.14 Related Parameters
Object Attribute No. Name
0x64
56 Pn826
Acceleration/Deceleration Type (= 1)
58 Pn829
Filter Selection (= 3)
51 Pn821
Speed [
×
1,000 steps/min]
52 Pn822
Acceleration Time [ms]
72 Pn842
Time Constant of Moving Average [ms]
73 Pn843
Maximum Speed [
×
1,000 steps/min]
Time
Pn821
Speed
Pn842
Pn822
Pn842
Pn842
Pn822
Pn842
Pn843