Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 96)

5.2 Command Related Parameters Details
5-7
5
Command
R
el
ated
Parameters
„ Acceleration/Deceleration Parameters when Pn833=n.†††1
Note: If the deceleration distance exceeds 1073741823 reference units during positioning, the motor cannot be accelerated
to the target speed TSPD specified in the motion command. Set the parameter for deceleration speed to a value that
satisfies the following equation.
Deceleration speed [reference unit/s
2
] ≥ Max. command speed
2
[reference unit/s] / (Max. deceleration distance [ref-
erence unit] × 2)
(2) Position Reference Filter
A filter can be applied to the position reference output of a positioning command such as INTERPOLATE,
LATCH, POSING, FEED, EX_POSINT, ZRET, and HOLD.
„ Position Reference Filter Setting Parameters
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn834 1st Linear Acceleration Constant 2 4 1 to 20971520
10000
reference units/s 2
100
Pn836 2nd Linear Acceleration Constant 2 4 1 to 20971520
10000
reference units/s 2
100
Pn838 Acceleration Constant Switching Speed 2 4 0 to 2097152000 Reference unit/s 0
Pn83A 1st Linear Deceleration Constant 2 4 1 to 20971520
10000
reference units/s 2
100
Pn83C 2nd Linear Deceleration Constant 2 4 1 to 20971520
10000
reference units/s 2
100
Pn83E Deceleration Constant Switching Speed 2 4 0 to 2097152000 Reference unit/s 0
Pn840 Linear Deceleration Constant 2 for Stopping 4 0 to 20971520
10000
reference units/s 2
100
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn810
Exponential Function Acceleration/Decelera-
tion Bias
2 0 to 65535
100 reference
units/s
0
Pn811
Exponential Function Acceleration/Decelera-
tion Time Constant
2 0 to 5100 0.1 ms 0
Pn812 Movement Average Time 2 0 to 5100 0.1 ms 0
Pn811
Pn810
: Before filter
: After filter
Exponential Function Acceleration/Deceleration Curve
DEN
Pn812
Movement Average Time Curve
Pn812
DEN
: Before filter
: After filter