Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 207)

7 Operation
7.4.3 Acceleration/Deceleration Function
7-18
(3) Control Block Diagram
The following diagram illustrates a control block for position control.
7.4.3 Acceleration/Deceleration Function
Acceleration and deceleration can be performed by setting the following parameters.
Use only after you have fully understood the meaning of each parameter. Settings are changed using
MECHATROLINK II communications.
• Related parameters
Differ-
entiation
Error
counter
Kp
Feed-
forward gain
Primary
lag filter
Bias
Speed
loop
Current
loop
M
Pn210
Pn20E
Pn210
+
-
Pn102
Pn210
Pn20E Pn10A Pn107 Pn109
Servomotor
PG
Position
data inter-
polation
SERVOP ACK (position control)
Encoder
Bias
addition
range
Pn108
B
A
B
A
+
+ +
Position
data
A
B
Pn20E
× 4
Type Pn No. Outline
Acceleration/deceleration Pn80A First-step linear acceleration
parameter
Pn80B Second-step linear acceleration
parameter
Pn80C Acceleration switching speed
Pn80D First-step linear deceleration
parameter
Pn80E Second-step linear deceleration
parameter
Pn80F Deceleration switching speed
Acceleration/deceleration filter Pn810 Exponential acceleration/
deceleration bias
Pn811 Exponential acceleration/
deceleration time constant
Pn812 Movement average time