Yaskawa FSP Amplifier - Manual (Page 162)

FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions
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5.9.1.5. Setting Default Motion Profile Parameters
When using position control with serial commands, the user downloads the
movements from the host using the FlexWorks software (see Section 4.4,
Programming the FSP Amplifier in the FlexWorks User’s Manual). FSP
Amplifier has variables that define the motion profile. Initially the defaults
of the Motion Profile Parameters are as described below. However, they
can be modified through the host or by the program after the FSP Amplifier
is turned ON.
Some of these profile features are long and are therefore stored in two
parameters: the high bit parameter contains the integer part of the value
divided by 65536, and the low bit parameter contains the remainder from
this calculation.
5.9.1.6. Profile Speed (Pn2A2, Pn2A3)
These parameters are used to define the default value of the profile speed
variable. This variable is used to reach a target within a minimum period of
time (set the time of movement to -1). The driver accelerates until it
reaches this profile speed.
Parameter Setting Units
Default
Setting
Signal
Pn2A2 Range: 0 to 65535 User Speed 0 Work speed default
Pn2A3 Range: 0 to 256
User Speed *
65536
0
Work speed default
(high bits)
For example, for a profile speed of 200000 [Speed units], set the following
parameters:
• Pn2A3 = integer part of 200000 / 65536 = 3
• Pn2A2 = 200000 – 3 * 65536 = 3392
5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5)
These parameters are used to define the default value of the profile
acceleration variable. This variable is used in Position mode whenever the
motor accelerates.
Parameter Setting Signal
Pn2A4
Range: 0 to 65535
Default setting: 0
[User Acceleration units]
Work acceleration default
Pn2A5
Range: 0 to 256
Default setting: 0
[User Acceleration units*65536]
Work acceleration default
(high bits)
For example, for a profile acceleration of 200000 [Acceleration units], set
the following parameters:
• Pn2A4 = integer part of 200000/65536 = 3
• Pn2A5 = 200000 – 3*65536 = 3392