Yaskawa MP900 Series Motion Programming Manual User Manual
Page 124
Advanced Programming
3.2.3 S-CURVE TIME CONSTANT CHANGE (SCC)
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How to validate S-curve acceleration/deceleration
In order to validate the S-curve acceleration/deceleration, set the filter type.
Change the filter type according to the following program.
D
MP-900 series Machine Controllers
OWC021 = OWC021 & FF0FH ;
OWC021 = OWC021 + 0020H ;
Filter type = selection of average moving filter
IOW OWC020 = = 0 ;
No motion command?
OWC020 = 13 ;
Motion command 13 = changing filter type
IOW IWC014 = = 13 ;
Waiting for command response
OWC020 = 0 ;
NOP command
IOW IWC014 = = 0 ;
D
MP2000-series Machine Controllers
OW8003 & F0FH
OW8003 = OW8003 + 0200H;
Filter type = selection of average moving filter
IOW OW8008 == 0;
No motion command?
OW8003 = 13;
Motion command 13 = changing filter type
IOW IW8008 == 13;
Waiting for command response
IOW IB80098 == 1;
Completion of command execution
OW8008 = 0;
NOP command
IOW IW 8008 == 0
Execute the program as shown above for all the axes which performs S-curve acceleration/decel-
eration.
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IMPORTANT