YASKAWA SGDV-OCA05A

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12.3 Positioning

12.3.2 Parameter Settings

12-12

Setting the Exponential Acceleration/Deceleration Rate

This parameter sets the time constant for the exponential acceleration/deceleration filter when

exponential acceleration/deceleration is used.

This parameter sets the bias speed when exponential acceleration/deceleration with a bias is

used.

Setting the Average Movement Time Filter

This parameter sets the time constant for the average movement time filter when S-curve

acceleration/deceleration or linear acceleration/deceleration with constant acceleration/decel-

eration times is used.

Setting a Positioning Completed Check

This parameter sets the positioning completed width that is used after starting positioning to

determine when positioning has been completed. If the positioning completed width is set to 0,

a check for the completion of positioning will not be performed. Also, the On Target Position bit

in the response message for I/O communications will not change to 1.

Positioning will be considered to be completed in the above diagram when the following condi-

tion has been met. When this occurs, the On Target Position bit in the response message for I/

O communications will change to 1.

X = (Target position – Current position) ≤ PnB50

There is also a function that monitors the time from the completion of distribution of the move-

ment reference to the SERVOPACK until the completion of positioning. If the positioning com-

pleted width set in PnB50 is not entered within the time that is set in PnB51 (Positioning

Completion Timeout Time) after distribution of the movement reference has been completed,

an A.A90 warning will occur. If this parameter is set to 0, the check time will be infinitely long.

PnB40

Time Constant for Exponential Acceleration/Deceleration