Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 252

Program and Task Configuration
Speed
0
• S-curve acceleration/deceleration can be realized by multiplying move-
ment averaging filter and trapezoidal acceleration/deceleration.
Trapezoidal Waveform
S-curve time constant = Delay until operation reaches the intended speed
• Enable/disable or S-curve time constant for S-shape acceleration/deceler-
ation can be set using the following system parameters:
No.
P00M04 Interpolation feed S-
curve filter enable
P00M05 Interpolation S-curve
time constant
P2AA09 Rapid feed S-curve
filter enable
P2AA11 Rapid feed time con-
stant
P2AA10 Rapid feed S-curve
filter enable
P2AA12 Manual feed time
constant
• If the travel time is less than the acceleration time plus the deceleration
time, a triangular curve will be created, as shown below.
Case 1:
PTP Operation Commands (MOVE, MOVEI, DATUM, and MOVET)
The rates of acceleration and deceleration will be maintained while moving
in a triangular curve.
P2AA01: Maximum rapid feed rate
P2AA05: Rapid feed acceleration time
P2AA06: Rapid feed deceleration time
S-curve Waveform
Name
Motion commands:
MOVEL/MOVEC
(Operand F sets the speed.)
Motion commands:
MOVE/MOVEI/MOVET
(Factors other than Operand F (parameters,
etc.) set the speed)
Axis control bits:
JOG/STEP
Section 6-1
Time
Usage
229