Omron OMNUC W Series Manual page 81

5 Parameter Settings
5.3.4 Speed, Acceleration, and Deceleration
5
Double-step Linear Acceleration/Deceleration with Constant
Acceleration/Deceleration
With double-step linear acceleration/deceleration, the rate of acceleration/deceleration
changes at the Switch Speed set in parameter Pn824.
In the first step of acceleration/deceleration, the rate of acceleration/deceleration is deter-
mined by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in
parameter Pn822. In the second step, the rate of acceleration/deceleration is determined by
the difference between the Maximum Speed set in parameter Pn843 and the Switch Speed
set in parameter Pn824 along with the Second Acceleration/Deceleration Time set in param-
eter Pn825.
The time T required to reach the constant speed in the positioning operation can be calcu-
lated using the following formulas.
T1 [ms] = Pn822 × (Pn824/Pn843)
T2 [ms] = Pn825 × (Pn821 - Pn824)/(Pn843 - Pn824)
T [ms] = T1 + T2
If this acceleration/deceleration pattern is used, the rate of acceleration/deceleration will
remain constant even if the Speed set in Pn821 is changed.
Object Attribute
56
0x64
58
51
52
54
55
73
Speed
Pn825
Pn822
Fig. 5.2 Double-step Linear Acceleration/Deceleration with Constant Acceleration/
Deceleration
5-28
Table 5.9 Related Parameters
No.
Pn826
Acceleration/Deceleration Type (= 2)
Pn829
Filter Selection (= 0)
Pn821 ×
Speed [ 1,000 steps/min]
Pn822
Acceleration Time [ms]
Pn824
Switch Speed [
Pn825
Second Acceleration/Deceleration Time [ms]
Pn843
Maximum Speed [
Pn825
Name
×
1,000 steps/min]
×
1,000 steps/min]
Time
Pn822