YASKAWA JEPMC-MP2300-Y Series

7
Motion Commands
7.2.9
Change Linear Acceleration Time Constant (ACC)
7-54
7.2.9 Change Linear Acceleration Time Constant (ACC)
The ACC command transfers the setting of the Linear Acceleration Time (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 6.4.1 ( 2 ) Function Selection 1 on page 6-18.
( 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 Linear Acceleration Time (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.
IB

090 will turn ON during the command processing and will turn OFF when the process-
ing 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 Command Pause bit (OB

090) and the Command Abort bit (OB

091) 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
SERVOPACK.
IB

0C0 is ON.
3 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
Parameter Name Setting
OW

03
Function 1
Set the speed unit, acceleration/deceleration unit, and filter type.
OW

08
Motion Command
The linear acceleration time constant is changed when this parameter is set to 10.
OB

090
Command Pause
This parameter is ignored for ACC command.
OB

091
Command Abort
This parameter is ignored for ACC command.
OL

36
Linear Acceleration
Time
Set the acceleration time for feeding as the acceleration time.