Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 253

Program and Task Configuration
230
Speed
P2AA01
P2AA05
Case 2:
Interpolation Commands (MOVEL, MOVEC, and MOVETRAV)
1) P00M06 (pass mode) = 0 or 1
The rates of acceleration and deceleration will be maintained while moving
in a triangular curve.
F speed: Speed specified in the interpolation command
P00M02: Interpolation feed acceleration time
P00M03: Interpolation feed deceleration time
Speed
F Speed
P00M02
2) P00M06 (pass mode) = 2 or 3
The rates of acceleration and deceleration will be maintained while moving
in a triangular curve.
This setting differs from P00M06 (pass mode) = 0 or 1 in that the maximum
interpolation feed rate is used when calculating the acceleration and decel-
eration times.
P00M01: Maximum interpolation feed rate
P00M02: Interpolation feed acceleration time
P00M03: Interpolation feed deceleration time
Section 6-1
Time
P2AA06
Time
P00M03