YASKAWA S-7 Series Command Manual page 149

Using the Acceleration/Deceleration Set in the Parameters
The setting of the 1st digit of parameter Pn833 (i.e., Pn833 = n.X) determines which
parameter to use for acceleration/deceleration when both the acceleration and deceleration
rates (ACCR and DECR) in the command are set to 0.
Reference speed
TSPD
Acceleration
constant
switching
speed
Note: Make settings so that the distance required for deceleration and the deceleration satisfy the following condi-
tions.
Deceleration [reference unit/s
tance [reference unit] × 2)
 Acceleration/Deceleration Constant Switching Setting
Parameter

n. 0
Use Pn80A to Pn80F and Pn827. (The settings
(Factory set-
of Pn834 to Pn840 are ignored.)
ting)
Pn833
Use Pn834 to Pn840. (The settings of Pn80A to

n. 1
Pn80F and Pn827 are ignored.)
Note: The setting will be validated by turning the power supply OFF and then ON again, or by executing the CON-
FIG command.
 Acceleration/Deceleration Parameters when Pn833=n.  0
Parameter
First Stage Linear Acceleration Con-
Pn80A
stant
Second Stage Linear Acceleration
Pn80B
Constant
Acceleration Constant Switching
Pn80C
Speed
First Stage Linear Deceleration Con-
Pn80D
stant
Second Stage Linear Deceleration
Pn80E
Constant
Deceleration Constant Switching
Pn80F
Speed
Linear Deceleration Constant 1 for
Pn827
Stopping
2nd linear
acceleration constant
2nd linear deceleration constant
1st linear acceleration constant
1st linear deceleration constant
2 ] ≥ Maximum reference speed [reference unit/s]
Meaning
Data Size
Name
(Byte)
2
2
2
2
2
2
2
6.1 Position Control
6.1.2 Positioning Command
Deceleration constant
switching speed
2
/ (Maximum deceleration dis-
Data Size Setting
(Byte) Range
0000h to
2
0001h
Setting
Unit
Range
10000 reference
1 to 65535
2
units/s
10000 reference
1 to 65535
2
units/s
0 to 65535 100 reference units/s
10000 reference
1 to 65535
2
units/s
10000 reference
1 to 65535
2
units/s
0 to 65535 100 reference units/s
10000 reference
1 to 65535
2
units/s
Time
Unit
–
Factory
Setting
100
100
0
100
100
0
100
6
6-3