Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 306

Command Details
Axis n speed
P20n03: Axis n
Rapid feed rate
Axis m speed
P20m03: Axis m
Rapid feed rate
• The actual positioning time can be found using the following expression:
[Actual positioning time] = Positioning time + [P2AA05: Rapid feed accel-
eration time] × [Speed of each axis]/[P2AA03: Rapid feed rate]
• In specifying deceleration, the parameter [P2AA06: Rapid feed decelera-
tion time] is ignored. Instead, the parameter [P2AA05: Rapid feed accel-
eration time] is used. (Symmetric linear acceleration/deceleration is
always performed.)
• The parameter [P2AA03: Rapid feed rate] is ignored.
• If the override is not 100.00%, the positioning time specified cannot be
kept.
• Positioning time does not include the time required for completing in-posi-
tion check.
• MOVET command execution will be completed when positioning for all
the specified axes is completed (in-position).
• During the command execution, the command code "0006h" is output to
the system variable "Command execution status" (SW0228 for axis 1).
(For details of command codes, see 4-5 System Variables Command
Code in Command Execution Status on page 142.)
Deceleration due to the insufficient travel distance
Acceleration due to excessive travel distance
Positioning time
Speed waveform with no time specification
Section 6-3
Time
Time
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