Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 132)

8.1 Axis Setting Commands
8-25
8
Command Reference
(4) Programming Examples
An SCC command programming example is given below.
The following example shows when a MOV command with an S-curve time constant of 250 ms and a MOV
command with an S-curve time constant of 500 ms are executed.
The parameters are set as follows for execution of this program.
• Motion setting parameter OW 03, bits 0 to 3 (Speed unit selection) = 0 (reference unit/s)
• Motion setting parameter OW 03, bits 4 to 7 (Acceleration/deceleration degree unit selection) = 0
(reference unit/s 2 )
Fig. 8.12 S-curve Time Change Command Programming Example
INC;
VEL [A1]10000;
ACC [A1]20000;
DCC [A1]20000;
SCC [A1]250;
MOV [A1]20000;
DL00000 = 500;
SCC [A1]DL00000;
MOV [A1]20000;
END; " Incremental mode
" Set Velocity [reference unit/S]
" Acceleration rate change [reference unit/S
∗S]
" Deceleration rate change [reference unit/S ∗S]
" S-curve time constant change [ms]
" Positioning
" S-curve time constant [ms]
" S-curve time constant change [ms]
" Positioning
EXAMPLE
Speed (V)
Time (t)
[ms] 250 ms
(SCC)
250 ms
(SCC)
500 ms
(SCC)
500 ms
(SCC)