Omron SYSMAC CS1G Operation Manual page 261

Program and Task Configuration
P00M06
Value
0 Interpolation acceleration time + Pass mode with
fixed acceleration disabled
1 Interpolation deceleration time + Pass mode
with fixed acceleration disabled
2 Interpolation acceleration time + Pass mode with
fixed acceleration enabled
3 Interpolation deceleration time + Pass mode
with fixed acceleration enabled
Note
Rapid Feed Rate
Move start
Axis override
Axis
movement
output
MOVE
command
238
Meaning
Acceleration: When the current speed command is faster than the previous
speed command
Deceleration: When the current speed command is slower than the previous
speed command
Rapid Feed Rate
The feed rate for the axis movement command MOVE and MOVEI can be set
in the parameter [P2AA03: Rapid feed rate].
The speed can be changed using the same parameter [P2AA03: Rapid feed
rate] before executing positioning.
Upper Limit of Command Value
The value set in the parameter [P2AA01: Maximum rapid feed rate] limits the
speed after override, the speed specified in the operand V of MOVEI com-
mand, or the speed after override for MOVET command.
Override
The speed can be changed during operations by multiplying override to the
rapid feed rate.
The axis override is used for rapid feed rate.
Range of the axis override is between 0 and 327.67%. When a value outside
of the range is set, the override 0% is used.
For details of the axis override, see 7-4-4 Axis Control Bits, Axis Status Bits
(page 432).
100%
100% 40%
Acceleration Passing time (Tp)
time (Ta)
Previously Previously selected bank Previously
selected bank
P00M02 Previously selected bank Previously
Previously Acceleration: Previously
selected bank selected bank
Deceleration: P00M03
P00M02 Acceleration: P00M02
Deceleration: Previously
selected bank
70%
40%
70%
Section 6-1
Deceleration
time (Td)
selected bank
selected bank
P00M03
Previously
selected bank
Ignored during
deceleration