YASKAWA S-7 Series Command Manual page 104

3.2 Servo Commands
3.2.10 Positioning Command (POSING: 35h)
Operation for Linear Acceleration/Deceleration
The following figure shows operation for linear acceleration/deceleration.
Operation for S-Curve Acceleration/Deceleration
The following figure shows operation for S-curve acceleration/deceleration.
Speed
ACCR
Acceleration time: Tacc = TSPD/ACCR
S-curve acceleration time: Taj = S_RATIO × Tacc
Important
3-38
Speed
Taj Taj
Tacc
1. If the TPOS, TSPD, ACCR, or DECR command is changed during positioning, the change will
be made when positioning is stopped or during constant-speed movement.
2. If the acceleration/deceleration time is too long, linear acceleration/deceleration will be used.
Linear acceleration/deceleration will be used when the rate of acceleration/deceleration meets
the following condition for the target speed (TSPD).
Acceleration/deceleration rate [ref/s
3. Set the S-curve acceleration/deceleration ratio (S_RATIO) in Pn846 (S-Curve Acceleration/
Deceleration Ratio).
Parameter
S-Curve
Acceleration/
Pn846
Deceleration
Ratio
Positioning speed
TSPD
Deceleration time: Tdec = TSPD/DECR
S-curve deceleration time: Taj = S_RATIO × Tdec
2
] < 700 × √(TSPD)
Data Size
Name
(Bytes)
2
P1
(Target position)
DECR
Tdj Tdj
Tdec
Setting
Setting Unit
Range
0 to 50 %
Time
Time
Default
Setting
0