Positioning; Acceleration/Deceleration Patterns - YASKAWA SGD7S Product Manual

12.3 Positioning

12.3.1 Acceleration/Deceleration Patterns

12.3

Positioning

12.3.1 Acceleration/Deceleration Patterns

The following acceleration/deceleration patterns can be achieved by combining acceleration/
deceleration types with filter selections.
Filter
Selec-
tion
(PnB29)
*1.
"Constant acceleration/deceleration rates" indicates that the rate of acceleration and deceleration will be con-
stant. If the feed speed is changed, the time that is required for acceleration/deceleration will change.
*2.
"Constant acceleration/deceleration times" indicates that even if the feed speed is changed, the time that is
required for acceleration/deceleration will not change and the acceleration/deceleration rates will change.
Note: Any combination that is not shown above must not be used because acceleration/deceleration will not be
performed correctly.
Symmetric Linear Acceleration/Deceleration (Constant
Acceleration/Deceleration Rates)
With symmetric linear acceleration/deceleration, the acceleration/deceleration rates are deter-
mined by the Acceleration Rate parameter.
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 [s] =
If this acceleration/deceleration pattern is used, the acceleration/deceleration rates will remain
constant even if the feed speed in PnB21 is changed.
Speed
PnB2A
12-6
Parameter
0000h: None. No acceleration/deceleration
0001h: Expo-
Exponential acceleration/
deceleration
nential accel-
Constant acceleration/
eration/
deceleration times
deceleration
0002h: Expo-
Exponential acceleration/
nential accel-
deceleration with bias
eration/
Constant acceleration/
deceleration
deceleration times
with bias
Symmetric linear accelera-
0003h: Mov-
tion/deceleration
ing
Constant acceleration/
average
deceleration times
Feed Speed (PnB21)
Acceleration Rate (PnB2A)
Acceleration/Deceleration Type (PnB26)
0000h: None.
Symmetric Linear
Symmetric linear accel-
eration/deceleration
Constant acceleration/
deceleration rates
*2
*2
Symmetric S-curve
acceleration/decelera-
tion
Constant acceleration/
*2
deceleration rates
PnB2A
0001h: 0003h:
Asymmetric Linear
Asymmetric linear accel-
eration/deceleration
Constant acceleration/
*1
deceleration rates
–
–
Asymmetric S-curve
acceleration/decelera-
tion
Constant acceleration/
*1
deceleration rates
Time
*1
–
–
*1