Yaskawa MotionWorks+ Windows Software - Manual (Page 143)

MotionWorks+™ Block Reference
137
3.2.4 CHANGE DYNAMICS
Definition
This block changes acceleration, deceleration, velocity, and s-curve settings while the
servo is already in motion. This block does not initiate motion. A previously set target
position will remain unchanged. Leaving a property blank (zero value) does not affect
current settings when this block executes.
Properties
Acceleration: The acceleration rate of the servo in user units / second
2
.
Deceleration: The deceleration rate of the servo in user units / second
2
.
S-Curve: The amount of s-curve acceleration/deceleration in millisec-
onds.
Velocity: The velocity of the move profile in user units / second.
Required Conditions
The servo must already be in motion via a block such as MOVE AXIS, JOG,
LATCH TARGET, GEAR for the property updates to have any effect.
Property Default
Minimum
Value
Maximum
Value
Base Units
Run
Time
Acceleration 0 32767 0 ms to rated speed Yes
Deceleration 0 32767 0 ms from rated speed Yes
S-curve 0 0 32767 ms Yes
Velocity 0 -200.00 200.00 % of rated speed Yes