Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 10

Deceleration Time During Pass Operation
The interpolation feed deceleration time was used to
decelerate to a stop during pass operation.
Example:
Pass Mode Select P00M06 = 0
Interpolation feed acceleration time Ta=P0MM02
Interpolation feed deceleration time Td=P00M03
Program:
PASSMODE;
INC MOVEL [J01]1000 F100000;
INC MOVEL [J01]1000 F100000;
END;
Speed
Ta
Switching from Torque to Position Control
Previous versions
Torque control switched could be switched to posi-
tion control using the TORQUR command only
after the axis feedback speed reached 0.
Previous versions
Ta Td
Present version (unit Ver. 2.0 or later)
• The interpolation time used for the pass operation
(interpolation feed acceleration time or deceleration
time) is used to decelerate to a stop during pass oper-
ation.
Example:
Pass Mode Select P00M06 = 0
Interpolation feed acceleration time Ta=P0MM02
Interpolation feed deceleration time Td=P00M03
Program:
PASSMODE;
INC MOVEL [J01]1000 F100000;
INC MOVEL [J01]1000 F100000;
END;
Speed
Time
Ta
• To decelerate to a stop using the interpolation feed
deceleration time in the same way as previous ver-
sions, add STOPMODE before the final interpolation
command before stopping.
PASSMODE;
INC MOVEL [J01]1000 F100000;
STOPMODE
INC MOVEL [J01]1000 F100000;
END;
Speed
Ta
Present version (unit Ver. 2.0 or later)
• Torque control can be switched to position control using the
TORQUR command when the axis feedback speed
reaches the speed specified in the specified parameter
(specified as a percentage of the rated speed).
• The following new parameter uses an area previously
reserved in the axis parameter area.
Parameter No.:
Parameter name:
Setting range:
Ta Ta
Ta Td
P3AA09
Position Control Switching Speed
0 to 32767 (unit: 0.01%)
Time
Time
xi