Yaskawa MP900 Series Motion Programming Manual - Manual (Page 125)

3.2 Speed and Acceleration/Deceleration Commands
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3.2.4 SET SPEED (VEL)
J
Overview
The VEL command changes the feed speeds of the axes for which positioning commands (MOV,
MVT, EXM) are used.
J Description
The VEL command is designated as follows:
VEL [axis1] − [axis2] − ⋅⋅⋅ ;
Feed speed
The VEL command changes the feed speed of each axis. The feed speed of an unspecified axis
is not changed.
The VEL command reference range is as follows:
0 to 2 31
− 1 [10 n reference unit/min]
n = number of digits after the decimal point
Note The setting unit is [10 n reference unit/min] for MP900-series Machine Control-
lers. That for MP2000-series Machine Controllers depends on the setting of
OWxx03 bit 0 to bit 3 (Acceleration/Deceleration Unit Selection).
1. When the VEL command is not executed, the feed speed is determined by the Feed Speed setting parame-
ter for each axis, or by the speed set by the previous VEL command.
2. Speeds changed by VEL command execution remain in effect until reset by the next VEL command, or
until an MVT command is executed.
3. The VEL command cannot be designated in the same block as the MOV command.
4. The setting parameter (Rapid Traverse Speed (OLxx22/OLxx10)) for each axis is changed by the VEL
command. Therefore, OLxx22 = xxxxx can also be programmed in place of the VEL command for the
MP900-series Machine Controllers.
Typical Setting for MP930
D Motor rated r/min: 3000 min -1
D Fixed parameter setting No.17: in mm
No.18: Three digits below decimal point
No.19: Machine one rotation 10000 = 10.000 mm
In the above case, to command the motor rated min -1 with the VEL command, the following
equation can be established.
3000 min -1 × 10.000 mm = 30000 mm/min
Therefore, axis 1 becomes the rated min -1 with the following command:
VEL [axis 1] 30000;
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INFO
A EXAMPLE "