Acceleration/Deceleration - YASKAWA MOTIONPACK-110 Descriptive Information

5.6.1 ACCELERATION/DECELERATION CONSTANT
(#1407, #1607, #1807, #1501 TO #1503, #1701 TO #1703, #1901 TO #1903) (Cont'd)
FEEDRATE (mrn/s)
RAPID TRAVERSE
FEEDRATE V R __
CHANGE POINT -
FEEDRATE V= 2ND LINEAR
ACCEL/DECEL CONSTANT
] 1ST LINEAR
L _,. ;_ /
_._ _r_.-""_ ACCEL DECEL CONSTANT _""_JA
_--_ TIME t (S)
Fig. 5.6
(Example) When rapid feedrate = 12 m/min, rising time = 0.5 s, and
unit system = 0.001 mm;
• 12 m/min is converted to the rate per second as follows:
12000 x _ = 200 mm/s
200
• Acceleration from 0 to 12 m/min is _ = 400 mm/s 2.
The value set in the acceleration/deceleration constant parameter is _ = 25.6.
Thus, "25" is set.
NOTE
1. When determining the acceleration/deceleration constant, measure the
acceleration/deceleration time of the machine system, and adopt an
acceleration/deceleration constant that does not give acceleration/
deceleration time shorter than the measured time.
2. When accelerating/decelerating in one step, set the 1st and the 2nd accel/
decel constant to the same value and the change point feedrate to 0.
3. When accelerating/decelerating in 2 steps, set the 1st accel/decel
constant larger than the 2nd accel/decel constant. Set the change point
feedrate lower than the rapid traverse feedrate. ( a _> a 2, VR>V_)
(2) Exponential Accel/Decel Time Constant (#1407, #1607, #1807)
These parameters are for setting the exponential acceleration/deceleration time con-
stant for interpolation motions.
Table 5.8
Parameter No. Description
Exponential Accel/ #1407 (X) Setting range: 1 to 127
Decel Time Constants #1607 (Y) Setting unit: 1 = 8 ms
#1807 (Z)
1OO