Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 215)

6.2 Motion Command Details
6.2.9 Change Acceleration Time (ACC)
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6.2.9 Change Acceleration Time (ACC)
The ACC command transfers the setting of the Straight Line Acceleration Time Constant (motion setting parameter
OL
36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enables the setting.
For the SGD- N and SGDB- AN SERVOPACKs, the deceleration time constant will be the same as the
acceleration time constant.
MECHATROLINK-II has a function that automatically updates setting parameters if a parameter changes. There is
no need to execute the ACC command with this function. For details, refer to bit A (User Constants Self-writing
Function) in the 4.4.1 ( 2 ) Function Selection 1.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW 08 to 10 to execute the ACC motion command.
The ACC command will transfer the setting of the Straight Line Acceleration Time Constant (motion setting
parameter OL
36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enable the
setting.
IW
08 will be 10 during command execution.
IW 09, bit 0 will turn ON during the command processing and will turn OFF when the processing has been
completed.
3. Set OW 08 to 0 to execute the NOP motion command and then complete the change of the linear
acceleration time constant.
( 2 ) Holding and Aborting
The Holds a Command bit (OW 09, bit 0) and the Interrupt a Command bit (OW 09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL 02 and IL 04 are 0.
2
Pulse distribution has been completed for the SERVO-
PACK.
IW 0C, bit 0 is ON.
3 Motion command execution has been completed. IW 08 is 0 and IW 09, bit 0 is OFF.
Parameter Name Setting
OW 03 Function Setting 1 Set the speed unit, acceleration/deceleration units, and filter type.
OW 08 Motion Command The linear acceleration time constant is changed when this parameter is set to 10.
OW 09
Bit 0
Holds a Command This parameter is ignored for ACC command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for ACC command.
OL 36
Straight Line Acceler-
ation/Acceleration
Time Constant
Set the linear acceleration rate or acceleration time constant. The setting unit is speci-
fied by OW
03.