CJ1W-NC434 Omron, CJ1W-NC434 Datasheet - Page 286

• Manufacturer Part Number: CJ1W-NC434
• Description: High Speed Pulse Train 4 Axes
• Manufacturer: Omron

Specifications of CJ1W-NC434

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

6
6-6 Example of Acceleration/Deceleration Operation
6-21
Calculation of Acceleration/Deceleration Time for Duplicate Starts
When the Command Speed is Higher than the Present Speed
When the Command Speed is Lower than the Present Speed
Command speed V2
Command speed V1
If you changed the command position or command speed during direct operation, the
acceleration time and deceleration time are calculated as follows.
Acceleration time T1 = (V1 − V0) / (Vmax − V0) × Ta
Acceleration time T2 = (V2 − V1) / (Vmax − V0) × Ta
Deceleration time T3 = (V2 − V0) / (Vmax − V0) × Td
In this case (V1 > V2), only the calculation of T2 among the formulas above changes in as
follows:
The command speed value is calculated as follows when override is enabled:
Parameters to use: 2 parameters below which you specified by axis parameters:
Data to use: 5 data below which you specified in the Operating Data area:
Starting speed V0
Command speed value = Command speed value in [Direct Operation Command Memory
Area] × Override in [Manual Operation Command Memory Area] / 100
Reference
Acceleration time T2 = (V1 − V2) / (Vmax − V0) × Td
Speed
0
Acceleration time T1
Initial command
Speed change command
Maximum speed Vmax (pps)
Starting speed V0 (pps)
command
Change
speed
CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434)
Acceleration time T2
Command position value
Command speed value V1 (pps)
Acceleration time Ta (ms)
Deceleration time Td (ms)
Command speed value V2 (pps)
Deceleration time T3
Time