YASKAWA SGD7S-xxxDA0 series Product Manual page 440

14.3 Position Control Modes
14.3.1 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
(6083h)
Acceleration time: Tacc = Profile velocity (6081h)
S-curve acceleration time: Taj = Tacc × Profile jerk (60A4h)
Important
14-8
Taj Taj
Tacc
/Profile acceleration (6083h)
1. If you change the Target position (607Ah), Profile velocity (6081h), Profile acceleration (6083h),
or Profile deceleration (6084h), 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 (60A4h).
Profile velocity (6081h)
Deceleration time: Tdec = Profile velocity (6081h)
S-curve deceleration time: Tdj = Tdec × Profile jerk (60A4h)
Profile
deceleration
(6084h)
Tdj Tdj
Tdec
/Profile deceleration (6084h)
Time