YASKAWA SGD7S Product Manual page 403

12.3 Positioning
12.3.2 Parameter Settings
Setting the Exponential Acceleration/Deceleration Rate
This parameter sets the time constant for the exponential acceleration/deceleration filter when
exponential acceleration/deceleration is used.
PnB40
This parameter sets the bias speed when exponential acceleration/deceleration with a bias is
used.
PnB41
Setting the Average Movement Time Filter
This parameter sets the time constant for the average movement time filter when S-curve
acceleration/deceleration or linear acceleration/deceleration with constant acceleration/decel-
eration times is used.
PnB42
Setting a Positioning Completed Check
This parameter sets the positioning completed width that is used after starting positioning to
determine when positioning has been completed. If the positioning completed width is set to 0,
a check for the completion of positioning will not be performed. Also, the On Target Position bit
in the response message for I/O communications will not change to 1.
Positioning will be considered to be completed in the above diagram when the following condi-
tion has been met. When this occurs, the On Target Position bit in the response message for I/
O communications will change to 1.
X = (Target position – Current position) ≤ PnB50
PnB50
There is also a function that monitors the time from the completion of distribution of the move-
ment reference to the SERVOPACK until the completion of positioning. If the positioning com-
pleted width set in PnB50 is not entered within the time that is set in PnB51 (Positioning
Completion Timeout Time) after distribution of the movement reference has been completed,
an A.A90 warning will occur. If this parameter is set to 0, the check time will be infinitely long.
PnB51
12-12
Time Constant for Exponential Acceleration/Deceleration
Setting Range
4 to 1,000
Exponential Acceleration/Deceleration Bias Speed
Setting Range
0 to 115,343,500
Average Movement Time Filter Time Constant
Setting Range
4 to 4,000
Current position
Positioning Completed Width
Setting Range
0 to 255
Positioning Completion Timeout Time
Setting Range
0 to 65,535
Setting Unit Default Setting
1 ms
Setting Unit Default Setting
1 reference unit/s
Setting Unit Default Setting
1 ms
Target position
PnB50 PnB50
X
Setting Unit Default Setting
1 reference unit
Setting Unit Default Setting
1 ms
When Enabled
4 Immediately
When Enabled
0 Immediately
When Enabled
25 Immediately
Coordinate axis
When Enabled
5 Immediately
When Enabled
0 Immediately