Yaskawa MP900 Series Motion Programming Manual - Manual (Page 57)

Motion Commands
2.1.1 POSITIONING (MOV)
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D The parameters and motion commands relating to automatic acceleration/deceleration for
positioning are as follows:
D Parameters
MP900-series
Machine Controller
MP2000-series
Machine Controller
Linear Acceleration/Deceleration
Time OWxx0C / OWxx0D OWxx36 / OWxx38
Filter Time Constant OWxx14 OWxx3A
Motion Command Control Flags
Filter Type Selection OWxx21 bit 4 to bit 7 OWxx03 bit 8 to bit 11
D Motion commands
ACCELERATION TIME CHANGE (ACC)
DECELERATION TIME CHANGE (DCC)
S-CURVE TIME CONSTANT CHANGE (SCC)
The acceleration/deceleration patterns can be set by combining the above parameters and
motion commands.
The acceleration/deceleration pattern example of MP900-series Machine Controller is
shown below.
NO. Automatic Acceleration/
Deceleration Type
Related Parameter
Setting
Remarks
1 No acceleration/deceleration OWxx0C = 0
OWxx21 bit 4 to bit 7 = 0
2 Single-step linear accelera-
tion/deceleration OWxx0C ≠ 0
OWxx21 bit 4 to bit 7 = 0
3 S-curve acceleration/decel-
eration OWx0C ≠ 0
OWxx21 bit 4 to bit 7 = 2
OWxx14 = 0
Asymmetric acceleration/deceleration cannot be designated for the MOV command.
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