Yaskawa Sigma II Indexer - Manual (Page 88)

Sigma II Indexer User’s Manual Setting up the Reference Units
5-33
The following parameter is used to set the default positioning and registration speed if no
speed is specified during program execution while in serial mode.
5.5.3 Setting the Acceleration / Deceleration Rate [x 1000 Reference Units/
min/ms]
The Sigma II Indexer stores the acceleration and deceleration data in units of [X1000 Refer-
ence Units/min/ms].
•
Determine load (workpiece) acceleration or deceleration in terms of 1,000 reference
units per minute per millisecond.
Example:
Reference unit = 0.01 mm
Desired acceleration is 0.1 second from 0 to 15 m/min:
Acceleration = 15 [x1000 reference units/min/ms]
The following parameters are used to set the acceleration and deceleration rate.
Parameter Signal Setting [x1000 ref. units/min] Default
Pn81E Positioning/ Registration Speed 1~99999999 1000
Parameter Signal Setting Default
Pn81F Acceleration 1~99999999 [x1000 ref. units/min/ms] 1000
Pn820 Deceleration 1~99999999 [x1000 ref. units/min/ms] 1000
Pn208
Position Reference
Movement
Averaging
Time
0~6400 [0.01 msec] 0
15,000 mm/min
0.01 mm
= 1,500,000 reference units/min.
1,500,000 ref. units/min
0.1 sec
= 15,000 reference units/min/ms
0.1 sec
100 msec
X