Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 50)

MotionSuite™ Series Machine Controller Programming Manual Chapter 2: Motion Commands
2-9
• The in-position check is not executed for the axial motion based on the linear
interpolation (MVS) command. Execute the next block when the pulse distribution of
the designated block is finished. When attempting to execute the next block after the in-
position check, designate the (PFN) in either the same block or the next block.
• The following control methods can be selected from the parameter and the IAC, IDC
command settings in the automatic accel/decel control during movement, based on the
interpolation command:
• Linear accel/decel
• Separate accel/decel
• S-curve accel/decel
• Parameters and motion commands regarding automatic accel/decel of the interpolation
feed are shown as follows:
Various accel/decel patterns can be set by combining the above parameters and motion
commands.
• Use the IAC or IDC command to set up the interpolation command-based accel/decel
time of the automatic accel/decel control.
No. Auto. Accel/Decel Type
Relate Parameter
and Command
Note
1 No accel/decel
Interpolation accel time change (IAC)=0
Interpolation decel time change (IDC)=0
OWxx21 b4~b7=0
2 Linear Interpolation
Interpolation accel time change (IAC)
≠0
Interpolation decel time change (IDC)
≠0
OWxx21 b4~b7=0
3 S-curve
Interpolation accel time change (IAC)
≠0
Interpolation decel time change (IDC)
≠0
OWxx21 b4~b7=2
OWxx14
≠0
• Setup parameter 18:
• Setup parameter 29: [S-curve accel time (OWxx14)]
[Servo command flag (OWxx21 b4~b7) Filter
type selection]
• Motion command: [Maximum interpolation feed speed (FMX)]
• F reference in interpolation feed: [Interpolation feed speed]
• Motion command:
[Interpolation feed speed ratio (IFP)]
• Motion command: [Interpolation acceleration time change (IAC)]
• Motion command: [Interpolation deceleration time change (IDC)]
• Motion command: [S-curve time constant change (SCC)]