Emotiontek MCU 2 Axis, User Manual

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Chapter 2. MC Programming
17) YA
Input type YA <number> or YA <L variable>
Terminology <Number>: Set the number of variable for acceleration time.
0 ~ 9(Share the Dwell(E) Table used for a DWL command.)
<L variable>: Set the variable for an acceleration time from the L-VAR Table.(L0 ~ L999)
Related
variable
D variable, L variable
Related command PTP,IPTP
Parameter Maximum feed velocity(P18), acceleration or deceleration time(P23)
Explanation The Y-axis acceleration time changes to a time(msec) set to the commanded variable number D or
L.
The acceleration value applied to a movement command is calculated in a time arriving at the
“P18 maximum velocity”.
If commanding is omitted, then the acceleration time set to a parameter “P23 Acceleration or
deceleration time” is effective.
The acceleration time set by YA is applied only to the rapid movement(PTP, IPTP) command.
The once set Acceleration or deceleration time is effective until a reset unless it is reset.
If the acceleration is commanded by A and the acceleration is commanded by YA next, then the A
becomes effective during interpolation movement and the YA becomes effective during rapid
movement. That is, the acceleration of interpolation and rapid movement can be separately
designated.
If the rapid movement acceleration is designated by YA and the acceleration is designated by A
next, then the YA command is cancelled and designated as the acceleration of A.
Example of use YA L0
YA 0 Designate an acceleration time by using a L0 variable.
Designate an acceleration time by using a D0 variable.
Example VEL 0
PTP P0
YA 0
PTP P1
Fig. 2.15 Y-axis acceleration time reset
Initial acceleration slope = Maximum velocity (P18) / Acceleration or deceleration time (P23)
Acceleration slope = Maximum velocity (P18) / D variable value or L variable value
Y-axis velocity
Time
F0
Maximum
velocity
Current position P0 position P1 position
D0 time