Yaskawa LEGEND-MC User Manual
Page 272
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LEGEND-MC User’s Manual
The following illustration -
Velocity Profiles of XY
shows the velocity profiles for the X and Y axis.
Velocity Profiles of XY
Notes on Velocity Profiles of XY illustration: The X axis has a ‘trapezoidal’ velocity profile, while the Y axis has a
‘triangular’ velocity profile. The X axis accelerates to the specified speed, moves at this constant speed, and then
decelerates such that the final position agrees with the commanded position, PR. The Y axis accelerates, but before the
specified speed is achieved, must begin deceleration such that the axis will stop at the commanded position.
Instruction
Interpretation
#A
Begin Program
PR 2000,100
Specify relative position movement of 2000 and 100 counts for the X
and Y axes.
SP 15000,5000
Specify speed of 15000 and 5000 counts / sec
AC 500000,500000
Specify acceleration of 500000 counts / sec
2
for all axes
DC 500000,500000
Specify deceleration of 500000 counts / sec
2
for all axes
BG X
Begin motion on the X axis
WT 40
Wait 40 msec
BG Y
Begin motion on the Y axis
EN
End Program
VELOCITY
(COUNTS/SEC)
20000
10000
5000
15000
20
40
60
80
TIME (ms)
100
X axis velocity profile
Y axis velocity profile
0