Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 121)

8 Command Reference
8.1.3 Acceleration Time Change (ACC)
8-14
(4) Programming Examples
ACC command programming examples are shown below.
• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW 03 are set to
1 (ms)
The following example shows when the MOV command is executed to accelerate axis A1 from static to the
rated speed in four seconds, and when the MOV command is executed to accelerate axis A1 in eight seconds.
* The unit of rated speed (min -1 ) must be converted to the same unit used for positioning speed (10 n refer-
ence units/min).
Fig. 8.6 Acceleration Time Change (ACC) Command Programming Example 1:
When Acceleration/Deceleration Degree Unit Selection is Set to 1 (ms)
INC;
VEL [A1]10000;
DCC [A1]8000;
ACC [A1]4000;
MOV [A1]5000000;
DL00000 = 8000;
ACC [A1]DL00000;
MOV [A1]5000000;
END; " Incremental mode
" Set Velocity [10
∗∗n reference units/min.]
" Deceleration time change [ms]
" Acceleration time change [ms]
" Positioning
" Acceleration time [ms]
" Acceleration time change [ms]
" Positioning
EXAMPLE
Speed (V)
[10 reference units/min]
Time (t)
[s]
10000
20000
8 s 4 s
ACC ACC
Rated speed
Positioning speed
∗
n