Omron OMNUC W Series Manual page 84

Exponential Acceleration/Deceleration with Bias with Constant
Acceleration/Deceleration Time
With exponential acceleration/deceleration with bias, the rate of acceleration/deceleration is
the same as described in , but a bias is applied. The Time Constant for Exponential Curve
set in parameter Pn840 is set to the time required to reach the following speed.
Speed = Bias Speed set in Pn841 + (Speed set in Pn821 - Bias Speed set in Pn841) × 0.632
If this acceleration/deceleration pattern is used, the acceleration/deceleration time will
remain constant even if the Speed set in Pn821 is changed. If the Bias Speed set in Pn841 is
set to 0, then the acceleration/deceleration pattern will be the same as the exponential accel-
eration/deceleration pattern described in
Object Attribute
56
0x64
58
51
70
71
Speed
Pn840
Fig. 5.5 Exponential Acceleration/Deceleration with Bias with Constant Acceleration/
Deceleration Time
5-31
.
Table 5.12 Related Parameters
No.
Pn826
Acceleration/Deceleration Type (= 0)
Pn829
Filter Selection (= 2)
Pn821 ×
Speed [ 1,000 steps/min]
Pn840
Time Constant for Exponential Curve [ms]
Pn841 ×
Bias Speed [
Pn840
5.3 Parameter Details
Name
1,000 steps/min]
Time
5