YASKAWA SGD7S Product Manual page 399

12.3 Positioning
12.3.1 Acceleration/Deceleration Patterns
Exponential Acceleration/Deceleration with Bias (Constant
Acceleration/Deceleration Times)
For exponential acceleration/deceleration with a bias, a bias is applied to the acceleration rate
and deceleration rate. Set the time that is required for the feed speed to reach the following
speed set in PnB40 (Time Constant for Exponential Acceleration/Deceleration).
Feed speed = PnB41 (Exponential Acceleration/Deceleration Bias Speed) + (PnB21 (Feed Speed) – PnB41 (Exponential Acceleration/Deceleration Bias Speed)) × 0.632
The acceleration/deceleration time will be approx. 3.91 times the value of PnB40 in millisec-
onds.
If this acceleration/deceleration pattern is used, the acceleration/deceleration times will remain
constant even if the feed speed is changed. If the Exponential Acceleration/Deceleration Bias
Speed parameter is set to 0, the operation will be exactly the same as for Exponential Acceler-
ation/Deceleration (Constant Acceleration/Deceleration Times).
Speed
PnB40
Symmetric Linear Acceleration/Deceleration (Constant
Acceleration/Deceleration Times)
With symmetric linear acceleration/deceleration, the acceleration/deceleration rates are deter-
mined by two parameters, PnB21 (Feed Speed) and PnB42 (Average Movement Time Filter
Time Constant).
If this acceleration/deceleration pattern is used, the acceleration/deceleration times will remain
constant even if the feed speed in PnB21 is changed.
Speed
PnB42
12-8
Time
PnB40
Time
PnB42