YASKAWA SGD7S Product Manual page 387

Setting the Acceleration/Deceleration Pattern
The acceleration/deceleration pattern is set in PnB26 (Acceleration/Deceleration Type) and
PnB29 (Filter Selection).
Parameter
0000 hex No acceleration/deceleration
PnB26 0001 hex Symmetrical linear acceleration/deceleration
0003 hex Asymmetrical linear acceleration/deceleration (Default setting)
0000 hex No filter (Default setting)
0001 hex Exponential filter
PnB29
0002 hex Exponential filter with bias
0003 hex Average movement time filter
The relationship between PnB26 (Acceleration/Deceleration Type) and PnB29 (Filter Selection)
when editing the Profile Type in object 0x25 via DeviceNet is shown in the following table.
Profile Type
Asymmetric linear acceleration/deceleration (constant
0
acceleration/deceleration rates)
Asymmetric S-curve acceleration/deceleration (constant
1
acceleration/deceleration rates)
Exponential acceleration/deceleration (constant accelera-
2
tion/deceleration times)
Symmetric linear acceleration/deceleration (constant
240
acceleration/deceleration rates)
Exponential acceleration/deceleration with bias (constant
242
acceleration/deceleration times)
Symmetric linear acceleration/deceleration (constant
243
acceleration/deceleration times)
Symmetric S-curve acceleration/deceleration (constant
244
acceleration/deceleration rates)
245 No acceleration/deceleration
Setting the Acceleration Rate and Deceleration Rate
These parameters set the acceleration and deceleration rates that are used for positioning, ori-
gin returns, and continuous operation.
Acceleration Rate
Setting Range
PnB2A
15,625 to
2,047,968,750
Deceleration Rate
Setting Range
PnB2B
15,625 to
2,047,968,750
Acceleration/Deceleration Pattern
Setting Unit
2
1 reference unit/s
Setting Unit
2
1 reference unit/s
12.3.2 Parameter Settings
Meaning
PnB26
0003 hex
0003 hex
0000 hex
0001 hex
0000 hex
0000 hex
0001 hex
0000 hex
Default Setting When Enabled
4,000,000
Default Setting When Enabled
4,000,000
12.3 Positioning
PnB29
0000 hex
0003 hex
0001 hex
0000 hex
0002 hex
0003 hex
0003 hex
0000 hex
Immediately
Immediately
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