Yaskawa MotionWorks IEC Toolboxes - Manual (Page 427)

PLCopen Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 414
Accel / Decel Limits
• The software acceleration & deceleration limits are managed by the MP2000iec controller.
• When an acceleration or deceleration limit is exceeded, a controller alarm will be generated, obtainable via the
MC_ReadAxisError function block, or the web server.
• 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 / sec
2 .
• To disable the acceleration limit, set LimitAccelEnable, parameter 1222 to zero.
Deceleration Limits
• Deceleration is defined by decreasing velocity towards zero.