Yaskawa MP940 Reference Manual - Manual (Page 406)

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode
11-9
User Program Examples
Example of Running Desired Operation
1 Speed Pattern
Ladder Program Example (Run Command Drawing H01)
Although the examples in the above figures are extremely simplified, in
reality each of the register types can be freely controlled by the user program.
A block diagram of the MP940 SVA speed control mode appears on the
following page.
NR
（100%）
NREF
（50%）
Speed
Reference
Speed
(%)
0
NACC NACC
Time
(t)
1s 1s
IFON
ELSE
IEND
DEND
RUN
OBC0010 RUNPB
IB00104
ACCEL
IB00105
500
NREF
⇒ OWC015
NREF
⇒ OWC015 0
The speed reference output mode
goes ON when IB00104 goes ON.
Run command to drive (RUN)
When the acceleration reference
(IB00105) goes ON, the acceleration
time constant (ACC) outputs a speed
reference 50% of the speed
reference. When IB00105 id OFF,
the axis decelerates to a stop
(outputs a 0% speed reference) at
the deceleration time constant
(DEC).
H0101
RUNMOD
⇒ OWC000 Speed control mode ON