Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 159)

5.1 Example Setting of Motion Parameters for the Machine
5.1.6 Acceleration/Deceleration Settings
5-12
( 1 ) Acceleration/Deceleration Degree Unit Selection and Speed Changes Over Time
The Straight Line Acceleration Time Constant (OL 36) and Straight Line Deceleration Time Constant (OL 38)
settings change depending on the Acceleration/Deceleration Degree Unit Selection (OW 03, bits 4 to 7) setting as
shown in the following figure.
When the Acceleration/Deceleration Degree Unit Selection (OW 03, Bits 4 to 7) Set to 0: Refer-
ence Unit/s 2
Set values of OL 36 and OL 38 are handled as the linear acceleration rate and linear deceleration rate.
When the Acceleration/Deceleration Degree Unit Selection (OW 03, Bits 4 to 7) Set to 1: ms
Set value of OL 36 is handled as the linear acceleration time constant required to reach rated speed from zero
using linear acceleration. Set value of OL 38 is handled as the linear deceleration time constant required to
reach zero from the rated speed using linear deceleration.
For the following commands, acceleration/deceleration processing is carried out by the SERVOPACK.
1: POSING
2: EX_POSING
3: ZRET
7: FEED
8: STEP
The unit conversion is applied to the linear acceleration time constant and linear deceleration time constant specified
in the setting parameters, and the converted values will be written in the corresponding SERVOPACK parameters
“2nd-step Linear Acceleration Constant” and “2nd-step Deceleration Constant.”
The actual acceleration/deceleration will be restricted by the corresponding SERVOPACK parameter setting range
and the unit, so the actual axis motion may not be exactly as specified by the setting parameters.
0
(t)
(100%)
(%)
Speed
Time
Reference speed
Straight Line
Acceleration rate
OL 36
Straight Line
Deceleration rate
OL 38
Time required to reach
reference speed = Reference
speed ÷ Straight Line
Acceleration
Time required to reach 0
= Reference speed ÷
Straight Line Deceleration
0
(t)
(100%)
(%)
Speed
Reference speed
Straight Line
Acceleration Time
Constant (OL 36)
Straight Line
Deceleration Time
Constant (OL 38)