Omron NY532-1500 Reference Manual page 568

4 Axes Group Instructions
Jerk
The relationships between Acceleration (Acceleration Rate), Deceleration (Deceleration Rate), and
Velocity (Target Velocity) when Jerk is set to 0 and when it is set to any other value are shown below.
• Jerk Set to 0
The command value for the velocity is created with acceleration rate At and deceleration rate Dt.
Interpolation velocity
Acceleration rate
Deceleration rate
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate.
• Short Travel Distance When Jerk Is 0
The interpolation velocity will not reach the specified Vt (Target Velocity).
Interpolation velocity
Acceleration rate
Deceleration rate
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate.
4-50
Vt
At
-Dt
Vt
At
-Dt
NY-series Motion Control Instructions Reference Manual (W561)
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