Settings For References; Motor Speed; Acceleration Rate And Deceleration Rate - YASKAWA SGD7S-R70A Product Manual

6.4 Settings for References

6.4.1 Motor Speed

6.4

Settings for References

6.4.1

Motor Speed

For program table operation, the positioning speed is registered in SPD and the registration
speed is registered in RSPD. For jog speed table operation, the jog speed is registered in
JSPD.
The speed is set in units of 1,000 reference units/min.
6.4.2

Acceleration Rate and Deceleration Rate

For program table operation, the acceleration rate is set in ACC and the deceleration rate is set
in DEC.
For jog speed table operation, the settings of the following Pn63E parameter (Acceleration
Rate) and Pn640 parameter (Deceleration Rate) are used.
The acceleration and deceleration rates are set in units of 1,000 reference units/min/ms.
Pn63E
Pn640
Important
6-10
The following calculation applies if the reference unit is 0.01 mm and the positioning
Example
speed is 15 m/min.
15,000 mm/min
0.01 mm
Thus, the positioning speed setting is 1,500 [1,000 reference units/min].
Acceleration Rate
Setting Range
1 to 199,999,999
Deceleration Rate
Setting Range
1 to 199,999,999
The following calculation applies if the reference unit is 0.01 mm and the acceleration
Example
time from 0 m/min to 15 m/min is 100 ms.
15,000 mm/min
0.01 mm
1,500,000 reference units/min
100 ms
Thus, the acceleration setting is 15 [1,000 reference units/min].
Set the acceleration and deceleration so that the values of the two settings do not differ greatly.
If they differ greatly, the machine will not accelerate in accordance with the settings.
For example, if Pn63E is set to 199,999,999 and Pn640 is set to 1, then the machine's perfor-
mance will be unpredictable.
= 1,500,000 reference units/min
Setting Unit Default Setting
1,000 (reference
1,000
units/min)/ms
Setting Unit Default Setting
1,000 (reference
1,000
units/min)/ms
= 1,500,000 reference units/min
= 15,000 [(reference units/min)/ms]
When Enabled Classification
Immediately Setup
When Enabled Classification
Immediately Setup