CJ1W-NC434 Omron, CJ1W-NC434 Datasheet - Page 288

• 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
6-23
Duplicate Starts at Fixed Acceleration/Deceleration Time
When Deceleration at Step 1 is Possible:
When Deceleration at Step 1 is Not Possible:
When the Changed Speed is One-half the Starting Speed or Lower
When you implement duplicate starts during direct operation and change the command speed
so that it is lower than the present speed, the deceleration curve changes as shown below if
the positioning operation with duplicate starts does not have a constant-speed section for the
command speed.
The formula below shows the changed speed which is equal to or less than half the difference
between the starting speed and the command speed.
Operation to satisfy the above formula is categorized into two depending on the movement
distance.
Starting speed
specified with
parameters V0
First, the axis decelerates to command speed V2 over deceleration time T2. When the movement
distance is short and thus it exceeds the specified distance if the axis decelerates over deceleration
time T2, the deceleration time changes depending on the movement distance. In other words, the
axis decelerates over a time that is shorter than the specified deceleration time.
If the specified movement distance is even shorter than the movement distance shown above,
the following is the operation, which exceeds the specified movement distance if deceleration
occurs with deceleration time T2.
Starting speed
specified with
parameters V0
The axis starts decelerating to a stop based on the movement distance specified when
duplicate starts are implemented.
Command
speed V1
Command
speed V2
Command
speed V1
Command
speed V2
V2 ≤
Speed
0
0
V1 − V0
Speed
2
Command speed change (duplicate starts)
Command speed change (duplicate starts)
Deceleration time
T2
Deceleration time T2
Deceleration time
T2
CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434)
Time
Deceleration time
T2
Movement when there is a constant-speed section
Time