YASKAWA JEPMC-MP2300-Y Series

7
Motion Commands
7.2.11
Change Filter Time Constant (SCC)
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7.2.11 Change Filter Time Constant (SCC)
The SCC command transfers the setting of the S-Curve Acceleration Time (motion setting parameter
OW

3A) to the Moving Average Time in the SERVOPACK and enables the setting.

Always execute the CHG_FILTER command before executing the SCC command.

MECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the SCC command with this function. For details, refer to bit
A (User Constants Self-Writing Function) in 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 12 to execute the SCC motion command.
The SCC command will transfer the setting of the S-Curve Acceleration Time (motion setting
parameter OW

3A) to the Moving Average Time in the SERVOPACK and enables the set-
ting.
IW

08 will be 12 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 deceleration 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 filter time constant is changed when this parameter is set to 12.
OB

090
Command Pause
This parameter is ignored for SCC command.
OB

091
Command Abort
This parameter is ignored for SCC command.
OW

3A
S-Curve Acceleration Time
Set the filter time constant for acceleration/deceleration.