Yaskawa LEGEND-MC - Manual (Page 244)

234
LEGEND-MC User’s Manual
VA (Vector Acceleration)
[Motion]
DESCRIPTION:
This command sets the acceleration rate of the vector in a coordinated motion sequence.
ARGUMENTS: VA n where
n is an unsigned integer. The parameter input will be rounded down to the nearest factor of 1024. The units
of the parameter is counts per second squared.
USAGE:
OPERAND USAGE:
_VA contains the value of the vector acceleration.
RELATED COMMANDS:
EXAMPLES:
While Moving Yes Minimum n Value 1024
In a Program Yes Maximum n Value 67107840
Command Line Yes Default Value 256000
Can be Interrogated Yes Default Format Position Format
Used as an Operand Yes Distributed Control No, Local
"VS" Vector Speed
"VP" Vector Position
"VE" End Vector
"VM" Vector Mode
"BGS" Begin Sequence
"VD" Vector Deceleration
"VS" Vector smoothing constant - S-curve
VA 1024
Set vector acceleration to 1024 counts/sec
2
VA ? Return vector acceleration
00001024
VA 20000 Set vector acceleration
VA ?
0019456 Return vector acceleration
ACCEL=_VA Assign variable, ACCEL, the value of VA