YASKAWA MP2100 Series - Page 179

7 Motion Parameters
7.2.2 Motion Setting Parameter Details
7-24
(25) S-Curve Acceleration Time
OW

3A
S-Curve Acceleration Time
Setting Range Setting Unit Default Value
0 to 5100 0.1 ms 0
Set the acceleration/deceleration filter time constant.
Always make sure that pulse distribution has been completed (i.e., that monitoring parameter IB

0C0 is ON) before
changing the time constant.
The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to
Appendix B.1 Parameters
Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK)
for details on making parameters auto-
matically effective.
Change the time constant for the filter set using the motion command Change Filter Type.
After setting the filter type to be used, change the time constant.
The overall flow for setting the filter time constant is as follows:
1. Select the filter type in Function 1 (setting parameter OW

03, bits 8 to B).
↓
2. Execute the motion command Change Filter Type (CHG_FILTER).
↓
3. Set the S-curve Acceleration Time (setting parameter OW

3A).
↓
4. Execute the motion command Change Filter Time Constant.
Once the filter type is set using the motion command, the setting is held until the power is turned OFF or the filter type is
changed.
There are two types of acceleration/deceleration filter: An exponential acceleration/deceleration filter and a moving average
filter.
The following table shows the relationship with related parameters.
Position
Phase
Speed
Torque
OW3A
OW3A
OW36
OW3A
OW3A
OW38
OW36
OW38
Step input
No Filter
Acceleration/deceleration used
OW38, Bits 8 to B = 0
Exponential Acceleration/Deceleration Filter
OW38, bits 8 to B = 1
Moving Average Filter
OW38, bits 8 to B = 2