Yaskawa MP900 Series Motion Programming Manual - Manual (Page 79)

Motion Commands
2.1.7 SET TIME POSITIONING (MVT)
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The operation specifications of the MVT command is identical for all the MP-series Machine Controller mod-
els.
Inside the MP-series Machine Controller, the feed speed during the execution of MVT command does not
include acceleration/deceleration.
v
t
Calculated
feed speed V’
Travel distance L
Positioning time T
The actual operation when the acceleration time T1 is less than the deceleration time T2, the actual operation
time can be calculated by the following equation.
Deceleration time T2
v
t
Calculated
feed speed V’
Travel distance L
Positioning time T
Acceleration time T1
If the acceleration time is equal to the deceleration time (T1 = T2), the positioning time designated by the
MVT command is the time at the start of deceleration.
The setting parameter OLxx22/OLxx10 (Rapid Traverse Speed) for each axis is changed by the MVT com-
mand. The feed speed set by the VEL command will also be changed accordingly. After executing the MVT
command, reset the feed speed by using the VEL command.
The acceleration/deceleration time for SVA and MECHATROLINK differs as follows:
• SVA: Depends on the settings parameters for the acceleration/deceleration time and the selected filter.
• MECHATROLINK: Depends on the acceleration/deceleration time constant and the filter setting of
SERVOPACK.
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