YASKAWA SGD7S-1R9D Product Manual page 414

13.3 Position Control Modes
13.3.1 Profile Position Mode
 SPOSING (S-curve Acceleration/Deceleration Positioning)
If you set Motion profile type to 2, S-curve acceleration/deceleration will be used for positioning
to Target position.
Speed
Profile
acceleration
(6083 hex)
Acceleration time: Tacc = Profile velocity (6081 hex)
S-curve acceleration time: Taj = Tacc × Profile jerk (60A4 hex)
Important
13-8
Taj Taj
Tacc
/Profile acceleration (6083 hex)
1. If you change the Target position (607A hex), Profile velocity (6081 hex), Profile acceleration
(6083 hex), or Profile deceleration (6084 hex), do so either while positioning is stopped or
while positioning at a constant speed.
2. Set the S-curve acceleration/deceleration time in Profile jerk (60A4 hex).
Profile velocity (6081 hex)
Deceleration time: Tdec = Profile velocity (6081 hex)
S-curve deceleration time: Tdj = Tdec × Profile jerk (60A4 hex)
Profile
deceleration
(6084 hex)
Tdj Tdj
Tdec
/Profile deceleration (6084 hex)
Time