YASKAWA SVC - Page 354

5.1 Motion Parameters
5.1.6 Acceleration/Deceleration Settings
5-13
5
Machine-Specic Motion Control
Acceleration/Deceleration Rate Unit Selection and Speed
Changes Over Time
The settings for the OL  36 setting parameter (Linear Acceleration Rate/Acceleration Time
Constant) and OL
 38 (Linear Deceleration Rate/Deceleration Time Constant) are handled
differently based on the setting in bits 4 through 7 in OW
 03 (Acceleration/Deceleration
Rate Unit Selection).
 When Bits 4 to 7 in OW  03 Are Set to 0 (Reference Units/s
2
)
The settings of OL  36 and OL  38 are treated as the linear acceleration rate and linear
deceleration rate, respectively.
 When Bits 4 to 7 in OW  03 Are Set to 1 (ms)
The setting of OL  36 is treated as the linear acceleration time constant, or the time
required to reach the rated speed from a speed of zero using linear acceleration. The setting of
OL
 38 is treated as the linear deceleration time constant, or the time required to reach a
speed of zero from the rated speed using linear deceleration.
For the following commands, acceleration/deceleration processing is performed by the SER-
VOPACK.
1: POSING
2: EX_POSING
3: ZRET
7: FEED
8: STEP
34: EX_FEED
Speed
(%)
Time
(t)
0
(100%)
Linear
Acceleration Rate
OL
36
Linear
Deceleration Rate
OL
38
Time required to reach a speed of zero
= Reference speed ÷ Linear deceleration rate
Time required to reach the reference speed
= Reference speed ÷ Linear acceleration rate
Reference speed
Time
(t)
0
(100%)
Linear Acceleration
Time Constant
(OL
36)
Linear Deceleration
Time Constant
(OL
38)
Speed
(%)
Reference speed