Yaskawa LEGEND-MC - Manual (Page 336)

326
LEGEND-MC User’s Manual
Example - Absolute Position Movement
Example - Motion Smoothing
Trapezoidal velocity and smooth velocity profiles
PA 10000,20000 Specify absolute X,Y position
AC 1000000,1000000 Acceleration for X,Y
DC 1000000,1000000 Deceleration for X,Y
SP 50000,30000 Speeds for X,Y
BG XY Begin motion
Instruction Interpretation
PR 20000 Position
AC 100000 Acceleration
DC 100000 Deceleration
SP 5000 Speed
IT .5 Filter for S-curve
BG X Begin
ACCELERATION
VELOCITY
VELOCITY
VELOCITY
ACCELERATION