Omron Sysmac NY-series - Page 607

Vt
-Dt
Time
Time
Deceleration rate
Acceleration rate
Interpolation velocity
At
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate.
• Jerk Set to V
alue Other Than 0
The command value for the velocity is created with At as the upper acceleration limit and Dt as the
upper deceleration limit.
At
-Dt
Jt
-Jt
Vt
Time
Time
Time
Jer
k
Deceleration rate
Acceleration rate
Interpolation velocity
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt:
Specified jerk
• Short Travel Distance When Jerk Is Other Than 0
The interpolation velocity will not reach the specified Vt (Target Velocity).
4 Axes Group Instructions
4-55
NY-series Motion Control Instructions Reference Manual (W561)
MC_MoveCircular2D
4
Function