Omron trajexia CJ1W-MCH72 Operation Manual page 17

Motion control concepts
6
The speed profile in this figure shows a simple MOVE operation. Axis A is the
time, axis B is the speed. The UNITS parameter for this axis has been defined
for example as meters. The required maximum speed has been set to 10 m/s.
In order to reach this speed in one second and also to decelerate to zero
speed again in one second, both the acceleration as the deceleration rate
have been set to 10 m/s
travelled during the acceleration, constant speed and deceleration segments.
Suppose the distance moved by the MOVE command is 40 m, the speed
profile is given by the figure.
B
10
0
The two speed profiles in these figures show the same movement with an
acceleration time respectively a deceleration time of 2 seconds. Again, Axis A
is the time, axis B is the speed.
B
10
0
Move calculations
The following equations are used to calculate the total time for the motion of
the axes.
• The moved distance for the MOVE command is D.
• The demand speed is V.
• The acceleration rate is a.
• The deceleration rate is d.
/i
Acceleration time
Acceleration distance
Deceleration time
2
. The total distance travelled is the sum of distances
1 2 3 4 5
1 2 3 4 5
=
=
=
Section 1-3
ACCEL=5
DECEL=10
SPEED=10
MOVE(40)
A
6
ACCEL=10
DECEL=5
SPEED=10
MOVE(40)
A
6