Yaskawa JAPMC-MC2300 - Manual (Page 135)

6.1 Example Setting of Motion Parameters for the Machine
6.1.6 Acceleration/Deceleration Settings
6-11
6
Motion Parameter Setting Examples
6.1.6 Acceleration/Deceleration Settings
The acceleration/deceleration can be set to either the rate of acceleration/deceleration or the time required to reach the
rated speed from 0. The settings method depends on the related parameter settings.
( 1 ) Related Parameters
The parameters related to acceleration/deceleration settings are listed in the following table.
Parameter Type
Parameter No.
(Register No.)
Name Description
Default
Value
Motion Fixed
Parameters
No. 5
Number of Dig-
its below Deci-
mal Point
Set the number of digits below the decimal point in the input
reference unit. The minimum reference unit is determined by
this parameter and the Reference Unit (fixed parameter 4).
Example:
Reference Unit = mm, Number of Digits below Decimal
Point = 3
1 reference unit = 0.001 mm
3
No. 34
Rated Motor
Speed
Set the number of rotations when the motor is rotated at the
rated speed (100% speed). Confirm the motor specifications
before setting this parameter.
3000
No. 36
Number of Puls-
es per Motor
Rotation
Set the number of pulses (the value before multiplication) per
motor rotation.
Example:
For a 16-bit encoder, set 2
(16 − 2)
= 16384.
16384
Motion Setting
Parameters
OW 03
Bits 4 to 7
Acceleration/
Deceleration
Degree Unit
Selection
Set the unit for acceleration/deceleration.
0: Reference units/s 2
1: ms
1
OL 36
Straight Line
Acceleration/
Acceleration
Time Constant
Set the rate of acceleration or acceleration time constant
according to the setting of OW
03, bits 4 to 7.
• Acceleration/Deceleration Units is set to 0 (Reference
units/s 2 ):
Set the rate of acceleration.
pulse unit: 1 = 1 pulse/s
2
mm unit: 1 = 1 reference unit/s 2
deg unit: 1 = 1 reference unit/s 2
inch unit: 1 = 1 reference unit/s 2
Example: Number of Decimal Places = 3
mm unit: 1 = 0.001 mm/s 2
deg unit: 1 = 0.001 deg/s 2
inch unit: 1 = 0.001 inch/s 2
• When Acceleration/Deceleration Units is set to 1
(ms):
Set the time constant to go from 0 to the rated speed with-
out relation to the reference unit.
0
OL 38
Straight Line
Deceleration/
Deceleration
Time Constant
Set the rate of deceleration or deceleration time constant
according to the setting of OW
03, bits 4 to 7.
• Acceleration/Deceleration Units is set to 0 (Reference
units/s 2 ):
Set the rate of deceleration.
pulse unit: 1 = 1 pulse/s 2
mm unit: 1 = 1 reference unit/s 2
deg unit: 1 = 1 reference unit/s 2
inch unit: 1 = 1 reference unit/s
2
• When Acceleration/Deceleration Units is set to 1
(ms):
Set the time constant to go from the rated speed to 0 with-
out relation to the reference unit.
0