YASKAWA SVC - ACC (Change Acceleration Time)

4.2 Motion Command Details
4.2.9 ACC (Change Acceleration Time)
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4.2.9 ACC (Change Acceleration Time)
Set the OL36 setting parameter (Linear Acceleration Rate/Acceleration Time Constant) to
change the linear acceleration time constant. This command is not required when an SVC
Function Module is used.
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. Set the OW08 setting parameter (Motion Commands) to 10 to execute the ACC
motion command.
The IW08 monitor parameter (Motion Command Response Code) is 10 during execution of this
command.
Bit 8 (Command Execution Completed) in the IW09 monitor parameter changes to 1 (Normal
execution completed) when IW08 changes to 10.
3. Set OW08 to 0 to execute the NOP motion command.
This concludes the process for changing the linear acceleration time constant.
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
• When this command is executed, bit 0 (Command Execution Flag) in the IW09 moni-
tor parameter will not change to 1 (Processing).
• The set value for the OL36 setting parameter (Linear Acceleration Rate/Acceleration
Time Constant) is issued to the Servo Selection or a slave SERVOPACK as soon as a travel
motion command is executed.
• This command is not required when an SVC Function Module is used, but it can still be set.
Setting this command will not cause an error. The parameter settings that you have used
until now can still be used with an SVC Function Module, including the settings for this
command.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 Distribution has been completed. Bit 0 in IW0C must be 1.
3
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
Register
Address
Name Setting Details
OW
08 Motion Commands
Set this parameter to 10 (ACC) to change the linear acceleration time
constant.
OW
09
Bit 0
Hold Command This bit is ignored for the ACC command.
OW
09
Bit 1
Cancel Command This bit is ignored for the ACC command.
Information