Jerk_Time - YASKAWA XTRAWARE - V3.0 Manual

Command Reference

JERK_TIME

Table explanation
Group Motion Profile
Syntax JERK_TIME <time>
Op. Code 74
Modes Program, Immediate, Sequential
Description Defines the time duration for the changing of acceleration and
deceleration. Sets the jerk time value for the motion profile (see
section 12.2, Motion Profile). The command changes the profile
jerk time (see section 12.2.3, Profile Jerk Smoothing Time) value
set by parameter Pn2A6 and remains in effect until the next
controller reset.
The jerk time affects the profile of motions commanded by: MOVE,
MOVE_D, MOVE_R, MOVE_H, GO, GO_D, SLIDE, SLIDE_ANALOG
Syntax time
Arguments
Example JERK_TIME 2000
Note 1. The JERK_TIME value has priority over the Low Pass Command
Filter (Pn216) variable. However, if the JERK_TIME is smaller than
250, the JERK_TIME is ignored and only the Low Pass Command
Filter value is used, even if the JERK_TIME is subsequently
changed.
2. For the motion commands GO, GO_D, MOVE, MOVE_D which
are stored in the motion buffer, changing the jerk value will affect
them only if the change is made before the command is issued,
that is, before the command is sent to the buffer.
3. For commands GO_H, MOVE_H, changing the jerk value will
affect them only if the change is made before the first command is
issued. For the change to affect the motion, the motion mode must
first be changed (e.g., by using the STOP_EX command).
4. For the command MOVE_R, changing the jerk value will affect it
only if the change is made before the command is issued. For the
change to affect the motion, the motion mode must first be
changed (e.g., by using the STOP_EX command).
5. The jerk time value <time> can only be specified by a number.
To set the profile jerk time (see section 12.2.3, Profile Jerk
Smoothing Time) equal to the value of a variable, use the
SET_VAR command.
See Also SET_VAR
Parameters Pn2A6, Pn216
132
Jerk time.
[μs] Range: 0 – 63999 μs
Serial 4 U
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