5
Motion Commands
5.2.9
Change Linear Acceleration Time Constant (ACC)
5-74
5.2.9 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.
( 1 ) Operating Procedure
( 2 ) Holding and Aborting
The Command Pause bit (OB
090) and the Command Abort bit (OB
091) cannot be used.
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL
02 and IL
04 are 0.
2 The Servo ON condition.
IB
001 is ON.
3
Pulse distribution has been completed for the
SERVOPACK.
IB
0C0 is ON.
4 Motion command execution has been completed.
IW
08 is 0 and IB
090 is OFF.
Execute the ACC motion command.
• Set OW
08 to 10.
• With the MECHATROLINK-II, there is the function that the change of
setting parameter is automatically updated. If utilizing this function,
there is no need to execute ACC command. For details, refer to bit A
(User Constants Self-writing Function) in Fixed Parameter 1 (Function
Selection 1).
• The Command Pause (OB
090) cannot be used.
• The Command Abort (OB
091) cannot be used.
The Linear Acceleration Time Constant is set in
the SERVOPACK and enabled.
• IW
08 will be 10 during command
execution.
• IB
090 will be ON during command
execution.
Parameter change completed.
• IW
08 will be 10 and IB
090 will be
OFF.
Execute NOP motion command.
• Set OW
08 to 0.
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