Omron OMNUC W Series Manual page 86

S-curve Acceleration/Deceleration with Constant Acceleration/
Deceleration
With S-curve acceleration/deceleration, the rate of acceleration/deceleration is determined
by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in parameter
Pn822, just as in the single-step linear acceleration/deceleration pattern described in
this case, however, a filter is applied when starting and stopping, and applied before and
after reaching the Speed set in parameter Pn821, to round the corners of the acceleration/
deceleration. The time the corners are rounded is determined by the Time Constant of Mov-
ing Average set in parameter Pn842.
The time T required to reach the Speed set in parameter Pn821 in the positioning operation
can be calculated using the following formula.
T [ms] = Pn842 + Pn822 × (Pn821/Pn843)
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
72
73
Pn822
Speed
Pn842
Fig. 5.7 S-curve Acceleration/Deceleration with Constant Acceleration/Deceleration
5-33
Table 5.14 Related Parameters
No.
Pn826
Acceleration/Deceleration Type (= 1)
Pn829
Filter Selection (= 3)
Pn821 ×
Speed [ 1,000 steps/min]
Pn822
Acceleration Time [ms]
Pn842
Time Constant of Moving Average [ms]
Pn843
Maximum Speed [
Pn822
Pn842 Pn842
5.3 Parameter Details
. In
Name
×
1,000 steps/min]
Time
Pn842
5