Omron CS1W-MCH71 Operation Manual page 306

Basic Information
Interpolation acceleration time = bank 1
Interpolation deceleration time = bank 1
Speed
Ta0
0
Interpolation acceleration time + Fixed acceleration pass mode disabled
(P00106 = 0)
Enabled when the block executed after parameter change begins to deceler-
ate.
Program Example:
Set P00M11 to P00M15/P00M16 to P00M20 beforehand.
Execution with PROG P0002 Q0001; motion task 1.
PASSMODE;
#IW0A00=1;
DATUM [J01]0;
ABL MOVEL [J01]100000 F600000;
WAIT #SL0204 > 20000;
#IW0A00=2;
ABL MOVEL [J01]200000 F1000000;
WAIT #SL0204 > 170000;
#IW0A00=3;
ABL MOVEL [J01]300000 F600000;
ABL MOVEL [J01]400000 F1000000;
END;
Speed
0 Ta1
Ta1
Interpolation
acceleration time
bank 1 -> bank 2
Interpolation deceleration time + Fixed acceleration pass mode disabled
(P00106 = 1)
Enabled when the block executed after parameter change begins to deceler-
ate.
Program Example:
Set P00M11 to P00M15/P00M16 to P00M20 beforehand.
Interpolation acceleration time = bank 2
Interpolation deceleration time = bank 2
Enabled from
Enabled from
next block
next block
Td0 Ta1 Td1
Acceleration bank 1 specification
Command position exceeds 20000
Acceleration bank 2 specification
Command position exceeds 170000
Acceleration bank 3 specification
Ta2
Enabled when
next block begins
Interpolation
to decelerate
acceleration time
bank 2 -> bank 3
Section 6-1
Ta2
Td2
Time
Ta3 Ta3
Time
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