Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 258

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
Acceleration/Deceleration
Times and Pass Mode for
MC Units with Ver. 2.0 or
Later
Speed
200000
100000
Ta
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
The acceleration/deceleration times for MC Units with Ver. 2.0 or later can be
changed as required during pass operation. (This is not possible for Pre-Ver.
2.0 MC Units.)
Specifically, the numbers of the parameters where the acceleration/decelera-
tion times are set are substituted for input variables to specify acceleration/
deceleration times. This called bank selection. Bank selection is possible not
only in pass mode, but also in stop mode.
PRGRAM P000 Q00000003;
PARAM P00111=100; Interpolation feed acceleration time bank 1 for task
1
PARAM P00112=200; Interpolation feed acceleration time bank 2 for task
1
:
PARAM P00120=1000; Interpolation feed acceleration time bank 10 for
task 1
:
PASSMODE;
#IW0A00=1; Selects task 1 bank 1 acceleration/deceleration time
MOVE [J01] 1000 F100000; Accelerates using the selected acceleration/
deceleration time
Tp
Acceleration Passing time (Tp)
time (Ta)
P00M02 P00M02
P00M02 P00M03
P00M02 Acceleration: P00M02
Deceleration: P00M03
P00M02 Acceleration: P00M02
Deceleration: P00M03
Section 6-1
Time
Td
Deceleration
time (Td)
P00M03
P00M03
P00M03
P00M03
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