Yaskawa MP900 Series Motion Programming Manual - Manual (Page 130)

Advanced Programming
3.2.7 INTERPOLATION ACCELERATION TIME CHANGE (IAC)
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3.2.7 INTERPOLATION ACCELERATION TIME CHANGE (IAC)
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Overview
The IAC command sets the acceleration time when the interpolation speed commands (MVS,
MCC/MCW, SKP) are executed. Any setting can be used in a motion program.
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Description
The IAC command is designated as follows:
IAC T−;
Acceleration time
The interpolation acceleration time designated by the IAC command is the time until the maxi-
mum interpolation feed speed designated by the FMX command is reached.
FMX setting speed
F designation speed
Before acceleration
time change
After acceleration
time change
v
t
v
t
FMX setting speed
F designation speed
Figure 3.23 INTERPOLATION ACCELERATION TIME CHANGE (IAC)
The IAC command reference range is as follows:
0 to 32,767 [ms]
1. When the IAC command is not executed, the acceleration time will be 0 (rectangle).
2. The acceleration time changed by IAC command execution remains in effect until it is reset by the next
IAC command.
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