Omron OMNUC W Series Manual page 87

5 Parameter Settings
5.3.4 Speed, Acceleration, and Deceleration
5
Asymmetric S-curve Acceleration/Deceleration with Constant
Acceleration/Deceleration
With asymmetric S-curve acceleration/deceleration, the S-curve acceleration/deceleration
described in , is used, but separate rates can be set for acceleration and deceleration.
First, the rates of acceleration/deceleration are determined by the Maximum Speed set in
parameter Pn843, the Acceleration Time set in parameter Pn822, and the Deceleration Time
set in parameter Pn823 just as in the asymmetric linear acceleration/deceleration pattern
described in . Then, a filter is applied when starting and stopping and positioning com-
pleted point, as well as 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 Moving Average set in parameter Pn842.
The time T required to reach the Speed set in Pn821 in the positioning operation can be cal-
culated 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
53
72
73
Pn822
Speed
Pn842
Pn842
Fig. 5.8 Asymmetric S-curve Acceleration/Deceleration with Constant Acceleration/
Deceleration
Table 5.15 Related Parameters
No.
Pn826
Acceleration/Deceleration Type (=3)
Pn829
Filter Selection (=3)
Pn821 ×
Speed [ 1,000 steps/min]
Pn822
Acceleration Time [ms]
Pn823
Deceleration Time [ms]
Pn842
Time Constant of Moving Average [ms]
Pn843
Maximum Speed [
Pn823
Pn842
5-34
Name
×
1,000 steps/min]
Time
Pn842