Motion Profile; Profile Velocity; Profile Acceleration - YASKAWA XTRAWARE - V3.0 Manual

Glossary of Terms and Concepts

12.2. Motion Profile

In an XtraDrive program, motion commands are used to specify the
required motor motion.
A motor motion is characterized by the rate at which it accelerates, the
ultimate speed reached, and the rate at which acceleration changes should
the ultimate speed be changed.
When using motion commands, these parameters may be specified.
Alternatively, the XtraDrive will use the default motion profile parameters,
which you can set.
The profile parameters are:

♦ Profile Velocity

♦ Profile Acceleration

♦ Jerk Smoothing Time
12.2.1. Profile Velocity
The profile velocity is the default speed to which the motor accelerates if
the desired duration of the motion is not specified. The motor will accelerate
until it reaches the profile velocity.
The profile velocity is recorded in the system variable Profile_Velocity.
By default, Profile_velocity is set equal to the Work Speed Default, specified
by parameters Pn2A2 and Pn2A3:
♦ Pn2A2: The profile speed in user speed units, in the low bits format.
♦ Pn2A3: The profile speed in user speed units, in the high bits format.
Pn2A2 is used to store the work speed default if its value is less than
65536. Values over 65536 must be converted to high bits format, and
stored in Pn2A3, which can hold values up to 256.
The value of Profile_velocity can be changed using the SPEED command. To
set Profile_velocity equal to a variable, use the SET_VAR command.
12.2.2. Profile Acceleration
The profile acceleration defines the default rate of acceleration that is used
whenever the motor accelerates in Position mode.
The profile acceleration is recorded in the system variable
Profile_acceleration.
By default, Profile_acceleration is set equal to the Work Acceleration
Default, specified by parameters Pn2A4 and Pn2A5:
♦ Pn2A4: The profile acceleration in user acceleration units, in the low bits
format.
250 XtraWare User Manual