Omron TJ1-DRT Hardware Reference Manual page 19

System philosophy
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 =
Deceleration distance =
Constant speed distance =
Total time =
Continuous moves
The FORWARD and REVERSE commands can be used to start a
continuous movement with constant speed on a certain axis. The
FORWARD command moves the axis in positive direction and the
REVERSE command in negative direction. For these commands
also the axis parameters ACCEL and SPEED apply to specify the
acceleration rate and demand speed.
HARDWARE REFERENCE MANUAL 19