Omron OMNUC G, Руководство пользователя

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5-19
5-8 Acceleration/Deceleration Time Settings
Ope
rati
n
g Func
tions
5
5-8 Acceleration/Deceleration Time Settings
Function
Œ
Set the angular acceleration to reach the target speed and angular deceleration to stop for position
commands.
Œ
Units of setting is
×
10,000 [command units/s
2
].
Parameters Requiring Settings
Note 1. The factory default setting for this parameter:
Linear Acceleration Constant = Linear Deceleration Constant = 100
×
10,000 [command
units/s
2
].
Note 2. The setting will be handled after conversion to an un-signed 16-bit data (0 to 65535).
Example:
−
32768
→
8000h = 32768
−
1
→
FFFFh = 65535
Setting example (using a 2,500-p/r Incremental Encoder)
When the setting is 100
×
10,000 [command units/s
2
], target speed is 2,400 r/min, and the electronic
gear ratio of G1/G2 is 2/1, the acceleration and deceleration time is as follows:
2,400/60 = 40 r/s The position units for one turn is 5,000 [command units].
The rotation speed units for 2,400 r/min is 40
×
5,000 = 200,000 [command units/s].
The linear acceleration and deceleration time to reach 2,400 r/min is 200,000/1,000,000 = 0.2 s.
Increasing the electronic gear ratio degrades the distribution accuracy of the linear acceleration and
deceleration time.
The setting must be increased in order to reduce the acceleration time.
Setting example (using a 17-bit Absolute Encoder)
When the setting is 100
×
10,000 [command units/s
2
], target speed is 2,400 r/min, and the electronic
gear ratio of G1/G2 is 64/1, the acceleration and deceleration time is as follows:
2,400/60 = 40 r/s The position units for one turn is 8,192 [command units].
The rotation speed units for 2,400 r/min is 40
×
8,192 = 327,680 [command units/s].
The linear acceleration and deceleration time to reach 2,400 r/min is 327,680/1,000,000 = 0.32768 s.
Increasing the electronic gear ratio degrades the distribution accuracy of the linear acceleration and
deceleration time.
The setting must be decreased in order to reduce the acceleration time.
In this example, set 328 for an acceleration time of 0.1 s.
Parameter
No.
Parameter name Explanation Reference page
Pn107
Linear Acceleration
Constant
Sets the acceleration speed for positioning
moves.
(Units:
×
10,000 [command units/s
2
])
5-82
Pn10A
Linear Deceleration
Constant
Sets the deceleration speed for positioning
moves.
(Units:
×
10,000 [command units/s
2
])
5-82