Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 119)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
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3.2 Speed/Acceleration Commands
This section explains how to program the commands that set the speed and acceleration
for the axis movement commands.
3.2.1 Acceleration Time Change (ACC) Command
! Outline
This command changes the acceleration time for each axis of positioning-related
commands (MOV, MVT, EXM). It sets up time for reaching the feed speed set by the VEL
command.
! Detailed Explanation
The ACC command method is shown as follows:
According to the above command, the acceleration time for each axis is changed. But
that of the undesignated axis is not changed.
The acceleration time of the MOV (Positioning) command is changed as follows.
• When the ACC command is not sent, acceleration time is determined by setting
parameter OWxx0C (Linear Acceleration Time Setting). Deceleration time is
automatically set to be the same as the acceleration time.
• The acceleration time changed by the ACC command is valid until being reset by the
next ACC command.
• A designating range of the ACC command is as indicated below.
Acceleration Time
ACC [axis1]—[axis2]—...;
V
MAX
V
t
After Acceleration Change Time
V
MAX
t
Figure 3.16: Acceleration Time Change
Before Acceleration Change Time
1 ~ 32767[msec]