Yaskawa MP900 Series Motion Programming Manual - Manual (Page 199)

A.1 Motion Command List
A - 3
Classification Command Name Programming Format Function/Meaning
Basic Control
Commands ABS ABSOLUTE MODE ABS; Treats all subsequent coordinate words as
absolute values.
INC INCREMENTAL
MODE INC; Treats all subsequent coordinate words as
incremental values.
POS CURRENT POSI-
TION SET POS [axis1] − [axis2] − ⋅⋅⋅; Changes the current values to the desired
coordinate values for up to 14 axes* si-
multaneously. Subsequent move com-
mands use this new coordinate system.
PLN COORDINATE
PLANE SETTING PLN [axis1] [axis2] Designates the coordinate plane to be used
for a command requiring a plane designa-
tion command.
MVM MOVE ON MA-
CHINE COORDI-
NATE MVM MOV [axis1]− [axis2]−;
or
MVM MVS [axis1]− [axis2]−; Goes to the target position on the machine
coordinate system. The coordinate system
set automatically on completion of the
zero point return is called a machine coor-
dinate system. This coordinate system is
not affected by the POS command.
PLD PROGRAM CUR-
RENT POSITION
UPDATE PLD [axis1] − [axis2] − ⋅⋅⋅; Updates the program current position for
axes shifted by manual intervention. Up to
14 axes can be designated.
Speed and
Acceleration/
Deceleration
Commands ACC ACCELERATION
TIME CHANGE ACC [axis1] − [axis2] − ⋅⋅⋅; Sets the acceleration time for linear accel-
eration/deceleration for up to 14 axes* si-
multaneously.
Commands
SCC S-CURVE TIME
CONSTANT
CHANGE SCC [axis1] − [axis2] − ⋅⋅⋅; Sets the time constant for moving average
acceleration/deceleration for up to 14
axes* simultaneously.
VEL SET VELOCITY VEL [axis1] − [axis2] − ⋅⋅⋅; Sets the feed speed for up to 14 axes*.
IAC INTERPOLATION
ACCELERATION
TIME CHANGE IAC T−; Sets the acceleration time for linear accel-
eration/deceleration for interpolation trav-
el.
IDC INTERPOLATION
DECELERATION
TIME CHANGE IDC T−; Sets the deceleration time for linear accel-
eration/deceleration for interpolation trav-
el.
IFP INTERPOLATION
FEED SPEED RA-
TIO SETTING IFP P−; Designates the maximum feed % for the
speed designation during an interpolation
feed.
FMX MAXIMUM IN-
TERPOLATION
FEED SPEED SET-
TING FMX T−; Sets the maximum speed during an inter-
polation feed.
The interpolation acceleration time is the
time from “0” until this speed is reached.
* Number of axes with simultaneous control for the MP930.
The number of simultaneously controlled axes differs depending on the model of the Machine Controller. Refer to
1.1.2 Function Performance for details.
A