Acceleration And Deceleration - Omron NX-series User Manual

6 Introduction of Motion Control Functions
Monitoring Velocities
You can read Axis Variables in the user program to monitor velocities.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name
_MC_AX[0-255].Cmd.Vel
_MC_AX[0-255].Act.Vel
6-5-3

Acceleration and Deceleration

Unit of Acceleration and Deceleration Rates
Acceleration rates and deceleration rates are given in command units/s
value obtained from unit conversion of the position display unit and the electronic gear.
Axis Parameters That Are Related to Acceleration and Deceleration
Parameter name
Maximum Acceleration
Maximum Deceleration
Acceleration/Decelera-
tion Over
Acceleration Warning
Value
6-36
Data type
LREAL Command Current
Velocity
LREAL Actual Current
Velocity
Function
Set the maximum acceleration rate for an axis
operation command. There will be no limit to
the acceleration rate if 0 is set.
2
(Unit: command units/s )
Set the maximum deceleration rate for an axis
operation command. There will be no limit to
the deceleration rate if 0 is set.
2
(Unit: command units/s )
Set the operation for when the maximum accel-
eration/deceleration rate would be exceeded
after excessive acceleration/deceleration
during acceleration/deceleration control of the
axis because stopping at the target position is
*1
given priority.
0: Use rapid acceleration/deceleration. (Blend-
ing is changed to Buffered.)
1: Use rapid acceleration/deceleration.
2: Minor fault stop
Set the percentage of the maximum accelera-
tion rate at which to output an acceleration
warning for the axis. No acceleration warning is
output if 0 is set.
(Unit: %)
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (W579)
Meaning
This is the current value of the command
velocity. A plus sign is added during
travel in the positive direction, and a
minus sign is added during travel in the
negative direction.
This is the actual current velocity. A plus
sign is added during travel in the positive
direction, and a minus sign is added
during travel in the negative direction.
2
. The command unit is the
Setting range
Non-negative long
reals
Non-negative long
reals
0 to 2
0 to 100
Function
Default
0
0
0
0