Yaskawa MotionWorks IEC - Manual (Page 384)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 376
• The controller alarm will be 16#3202 0005 if the positive position limit is
exceeded and 16#3202 0006 if the negative position limit is exceeded.
Acceleration Limits
• Acceleration is defined as increasing velocity away from zero.
• The parameters are called LimitAccelPositive and LimitAccelNegative,
with values of UINT#1221 and UINT#1220 respectively. Use the
MC_WriteParameter function block for these and all controller side
parameters. Acceleration limit parameters are in user units / sec2.
• To disable the acceleration limit, set LimitAccelEnable, parameter 1222
to zero.
Deceleration Limits
• Deceleration is defined by decreasing velocity towards zero.
• The parameters are called LimitDecelPositive and LimitDecelNegative,
with values of UINT#1231 and UINT#1230 respectively. Use the
MC_WriteParameter function block for these and all controller side
parameters. Deceleration limit parameters are in user units / sec2.
• To disable the deceleration limit, set LimitDecelEnable, parameter 1232
to zero.