Omron NJ501-1300, Руководство пользователя

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9 Motion Control Functions
9-28
NJ-series CPU Unit Motion Control User’s Manual (W507)
The following two types of axis velocities are used in the MC Function Module.
* This value is given if the Velocity actual value (606C hex) is mapped in the PDOs and assigned to the Actual Cur-
rent Velocity.
A velocity is given in command units/s. The command unit is the value obtained from unit conversion of
the position display unit and the electronic gear.
The velocity used in an actual positioning motion is specified by the Velocity (Target Velocity) input vari-
able to the motion control instruction.
9-5-2 Velocity
Types of Velocities
Velocity type Definition
Command velocity This is the velocity that the MC Function Module outputs to control an axis.
Actual velocity This is the velocity calculated in the MC Function Module based on the actual posi-
tion input from the Servo Drive or encoder input.
*
Velocity Unit
Axis Parameters That Are Related to Velocities
Parameter name Function Setting range Default
Maximum Velocity Specify the maximum velocity for the axis. If a
target velocity that exceeds the maximum
velocity is specified for an axis motion instruc-
tion, the axis will move at the maximum veloc-
ity. Positive long reals 400,000,000
Maximum Jog Velocity Specify the maximum jog velocity for the axis. If
a target velocity that exceeds the maximum jog
velocity is set for a jog instruction, the axis will
move at the maximum jog velocity. Positive long reals 1,000,000
Velocity Warning Value Set the percentage of the maximum velocity at
which to output a velocity warning for the axis.
No velocity warning is output if 0 is set.
(Unit: %) 0 to 100 0
Actual Velocity Filter
Time Constant Set the time period to calculate the average
travel of the actual velocity in milliseconds. The
average travel is not calculated if 0 is set.
(Unit: ms)
Use this to reduce variations in the actual cur-
rent velocity when axis velocity is slow. 0 to 100 0
Specifying Target Velocities for Axis Operations