Omron CS1W-MC221 - 02-2008 Operation Manual page 357

Linear Interpolation
Speed reference
0
Interpolation
acceleration
time
Speed reference
Maximum
interpolation
feed rate
Interpolation
feed rate
330
PTP control, the acceleration or deceleration time is not shortened according
to the speed (except for triangular control).
The Constant Acceleration Mode is provided to shorten the positioning time
when only one axis is used for linear interpolation. This mode is normally set
to OFF (i.e., it is turned OFF in the CX-Motion default settings). When it is
turned ON (enabled), positioning will be executed at acceleration and deceler-
ation times according to the interpolation feed rate, as shown in the following
diagram. When linear interpolation is executed for two or more axes, position-
ing will accelerate and decelerate at the interpolation acceleration and decel-
eration times (as shown in the above diagram) regardless of the interpolation
feed rate and even if the Constant Acceleration Mode is turned ON (enabled).
In the following diagram, linear interpolation is executed for one axis only with
the Constant Acceleration Mode turned ON.
0
Interpolation
acceleration
time
Acceleration time Ta = Specified interpolation feed rate x interpolation accel-
Deceleration time Td = Specified interpolation feed rate x interpolation decel-
Even if the feed rate during linear interpolation
(the interpolation feed rate) is changed, the time
required to reach the changed feed rate or the
time required to reach speed 0 from the feed rate
will be only the interpolation acceleration time or
interpolation deceleration time.
Interpolation
deceleration
time
Positioning is executed with an acceleration time (Ta)
and deceleration time (Td) that maintain constant
acceleration and deceleration to and from the maximum
interpolation feed rate.
Interpolation
deceleration
time
eration time / maximum interpolation feed rate
eration time / maximum interpolation feed rate
Section 6-3
Time
Time