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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
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...