Yaskawa MotionWorks IEC - Manual (Page 388)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 380
• To disable the velocity limits, set LimitVelocityEnable, parameter 1212 to
zero.
• LimitVelocityPositive must be zero or greater.
• LimitVelocityNegative must be zero or lower.
Moving Average Filter (S-Curve)
A moving average filter is available for discrete motion profiles in firmware
version 1.1.2.5 and higher. To use the moving average filter, it must first
be enabled in the Hardware Configuration on the axis configuration tab as
shown below. The filter time constant can also be specified there, or via
MC_WriteParameter .
Once the moving average filter is enabled in the Hardware Configuration, it
can be changed in the application program using
MC_WriteBoolParameter
and read using MC_ReadBoolParameter . Use MC_ReadParameter and
MC_WriteParameter to set or read the Moving Average Time Constant
(parameter 1301.) The range of the Moving Average Filter Time constant
is 0.0 to 5.0 seconds (0 excluded).
The moving average filter limits are [0,5). (0 excluded).