Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 95)

5 Command Related Parameters
5.2.2 Motion Acceleration/Deceleration Function Setting
5-6
5.2.2 Motion Acceleration/Deceleration Function Setting
This section describes the parameters used to set the acceleration/deceleration function for motion commands
for positioning.
(1) Linear Acceleration/Deceleration Function
Use the following parameters to set the acceleration/deceleration constants used to execute POSING, FEED,
EX_POSING, ZRET, or HOLD commands.
The 1st digit of Pn833 is used to switch the parameters used for acceleration/deceleration: the parameters
Pn80A to Pn80F and Pn827 or the parameters Pn834 to Pn840.
„ Acceleration/Deceleration Constant Switching Setting
Note: The setting will be validated by turning the power supply OFF and then ON again, or by executing the CONFIG
command.
„ Acceleration/Deceleration Parameters when Pn833=n.†††0
Command speed
Acceleration constant
switching speed
1st linear acceleration constant
1st linear deceleration constant
TSPD
Time
Deceleration constant switching speed
2nd linear
acceleration constant
2nd linear deceleration
constant
Parameter Meaning
Factory
Setting
Pn833
n.†††0
Use parameters Pn80A to Pn80F and Pn827.
(Parameters Pn834 to Pn840 are invalid.)
n.†††0
n.†††1
Use parameters Pn834 to Pn840.
(Parameters Pn80A to Pn80F and Pn827 are invalid.)
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn80A 1st Linear Acceleration Constant 1 2 1 to 65535
10000
reference units/s 2
100
Pn80B 2nd Linear Acceleration Constant 1 2 1 to 65535
10000
reference units/s 2
100
Pn80C Acceleration Constant Switching Speed 1 2 0 to 65535
100
reference units/s
0
Pn80D 1st Linear Deceleration Constant 1 2 1 to 65535
10000
reference units/s 2
100
Pn80E 2nd Linear Deceleration Constant 1 2 1 to 65535
10000
reference units/s 2
100
Pn80F Deceleration Constant Switching Speed 1 2 0 to 65535
100
reference units/s
0
Pn827 Linear Deceleration Constant 1 for Stopping 2 0 to 65535
10000
reference units/s 2
100