Profile Jerk Smoothing Time; Explanation Of Command Table - YASKAWA XTRAWARE - V3.0 Manual

♦ Pn2A5: The profile acceleration in user acceleration units, in the high
bits format.
♦ Pn2A4 is used to store the profile acceleration if its value is less than
65536. Values over 65536 must be converted to high bits format, and
stored in Pn2A5, which can hold values up to 256.
The value of Profile_acceleration can be changed using the ACCELERATION
command. To set Profile_acceleration equal to a variable, use the SET_VAR
command.

12.2.3. Profile Jerk Smoothing Time

Jerk smoothing time defines the time required for the changing of
acceleration and deceleration, and is set in milliseconds.
The Jerk smoothing time is recorded in the system variable
Jerk_smoothing_time.
By default, Jerk_smoothing_time is set equal to the Work Jerk Smoothing
Time Default, specified by parameter Pn2A6.
The value of Jerk_smoothing_time can be changed using the command
JERK_TIME. To set Jerk_smoothing_time equal to a variable, use the
SET_VAR command.

12.3. Explanation of Command Table

The table shown on the next page explains the contents of each row in the
command tables presented in Chapter 5, Command Reference.
Group The command group under which the command is listed in
XtraWare.
Syntax The format in which the command is written.
Op. Code The operation code of the command, in decimal format, to be
used when issuing the command using the serial communication
protocol, see Chapter 6, Serial Interface Protocol.
Modes Modes in which the command is available. For details of the
available modes, see section 4.5, Program Modes.
Motion The motion modes in which the command functions (applicable
Mode
to motion commands only). See 5.3, Motion Modes.
Description A detailed description of the command and how it is used.
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