Omron NX701-1 User Manual

9-35
9 Motion Control Functions
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
9-5 Common Functions for Single-axis Control
9
9-5-3 Acceleration and Deceleration
The velocity used in an actual positioning motion is specified by the Velocity (Target Velocity) input vari-
able to the motion control instruction.
You can read Axis Variables in the user program to monitor velocities.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Acceleration rates and deceleration rates are given in command units/s
2
. The command unit is the
value obtained from unit conversion of the position display unit and the electronic gear.
Specifying Target Velocities for Axis Operations
Monitoring Velocities
Variable name Data type Meaning Function
_MC_AX[0-255].Cmd.Vel LREAL Command Current
Velocity
This is the current value of the command
velocity. A plus sign is added during
travel in the positive direction, and a
minus sign is added during travel in the
negative direction.
_MC_AX[0-255].Act.Vel LREAL Actual Current
Velocity
This is the actual current velocity. A plus
sign is added during travel in the positive
direction, and a minus sign is added
during travel in the negative direction.
9-5-3 Acceleration and Deceleration
Unit of Acceleration and Deceleration Rates
Axis Parameters That Are Related to Acceleration and Deceleration
Parameter name Function Setting range Default
Maximum Acceleration Set the maximum acceleration rate for an axis
operation command. There will be no limit to
the acceleration rate if 0 is set.
(Unit: command units/s
2
)
Non-negative long
reals
0
Maximum Deceleration Set the maximum deceleration rate for an axis
operation command. There will be no limit to
the deceleration rate if 0 is set.
(Unit: command units/s
2
)
Non-negative long
reals
0
Acceleration/Decelera-
tion Over
Set the operation for when the maximum accel-
eration/deceleration rate would be exceeded
after excessive acceleration/deceleration
during acceleration/deceleration control of the
axis because stopping at the target position is
given priority.
0: Use rapid acceleration/deceleration. (Blend-
ing is changed to Buffered.)
*1
1: Use rapid acceleration/deceleration.
2: Minor fault stop
*2
0 to 2 0

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English