Parameter Settings - YASKAWA SGD7S Product Manual

12.3 Positioning

12.3.2 Parameter Settings

Asymmetric S-Curve Acceleration/Deceleration (Constant
Acceleration/Deceleration Rates)
With Asymmetric S-Curve Acceleration/Deceleration, the operation is the same as for symmet-
ric S-curve acceleration/deceleration except that the acceleration and deceleration rates can
be set separately.
First, the operation is the same as for asymmetric linear acceleration/deceleration in that the
acceleration and deceleration rates are created from PnB2A (Acceleration Rate) and PnB2B
(Deceleration Rate). With an S-curve pattern, however, the corners when starting and complet-
ing positioning and just before and after the feed speed set in PnB21 are rounded by using a fil-
ter. Set the time for rounding off the corners in PnB42 (Average Movement Time Filter Time
Constant).
The time T that is required during a positioning operation for the reference to reach the feed
speed in PnB21 is calculated as follows:
T [ms] = PnB42 + (
If this acceleration/deceleration pattern is used, the acceleration/deceleration rates will remain
constant even if the feed speed is changed.
Speed

12.3.2 Parameter Settings

Feed Speed
This parameter sets the feed speed to use for positioning. You can change the setting of this
parameter with a command message.
PnB21
12-10
PnB21
) × 1000
PnB2A
PnB2A
PnB42
PnB42
Feed Speed
Setting Range
1 to 115,343,500
PnB2B
PnB42
Setting Unit Default Setting
1 reference unit/s
PnB42
When Enabled
400,000 Immediately
Time