Yaskawa MP900 Series Motion Programming Manual - Manual (Page 61)

Motion Commands
2.1.2 LINEAR INTERPOLATION (MVS)
2 -8
NO. Remarks Related Parameter and
Command
Automatic Acceleration/
Deceleration Type
3 S-curve acceleration/decel-
eration Interpolation acceleration
time change (IAC) ≠ 0
Interpolation deceleration
time change (IDC) ≠ 0
OWxx21 bit 4 to bit 7 = 2
OWxx14 ≠ 0
D The acceleration time and deceleration time for the automatic acceleration/deceleration con-
trol of movement with interpolation commands can be set in the IAC and IDC commands.
J Programming Examples
The following illustration shows a programming example for the MVS command in ABS mode.
FMX T30000000;
MW00001 = 10000; (*)
ABS;
MVS [axis1] 4000 [axis2] 3000 [axis3] 2000 F1000;
Where
Current position: axis 1 = axis 2 = axis 3 = 0
axis 2
axis 3
axis 1
3000
2000
4000
Figure 2.5 Programming Example for MVS
* Example of MP930
The interpolation override setting differs depending on the Machine Controller model.
Refer to 1.2.3 Feed Speeds for details.
1. The speed designation (F) must be specified in the same block as the interpolation command.
2. The INTERPOLATION FEED SPEED RATIO SETTING (IFP) is an isolated command, and cannot be
specified in the same block as the interpolation command.
For details on the IFP command, see 3.2.5 INTERPOLATION FEED SPEED RATIO SETTING (IFP).
3. If the override applied to the F designation results in a speed exceeding the maximum interpolation feed
speed (FMX), the speed will be clamped to the FMX speed.
2
A
EXAMPLE
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INFO