Omron GRT1-ML2 Hardware Reference Manual page 16

System philosophy
The two speed profiles in these figures show the same movement with an
acceleration time respectively a deceleration time of 2 seconds. Again, Axis
A is the time, axis B is the speed.
Move calculations
The following equations are used to calculate the total time for the motion of
the axes.
• The moved distance for the MOVE command is D.
• The demand speed is V.
• The acceleration rate is a.
• The deceleration rate is d.
/i
Acceleration time =
HARDWARE REFERENCE MANUAL
fig. 5
B
10
0 1 2 3 4 5
fig. 6
B
10
0 1 2 3 4 5
ACCEL=5
DECEL=10
SPEED=10
MOVE(40)
A
6
ACCEL=10
DECEL=5
SPEED=10
MOVE(40)
A
6
11