Yaskawa MP930 - Manual (Page 305)

B.1 Motion Command List
B -3
Classification Function/Meaning Programming Format Name Command
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 simul-
taneously. Subsequent move commands
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 coordinate
system. This coordinate system is not af-
fected 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 travel.
IDC INTERPOLATION
DECELERATION
TIME CHANGE IDC T−; Sets the deceleration time for linear accel-
eration/deceleration for interpolation travel.
IFP INTERPOLATION
FEED SPEED RA-
TIO SETTING IFP P−; Designates the maximum feed % for the
speed designation during an interpolation
feed.
FMX MAXIMUM INTER-
POLATION FEED
SPEED SETTING 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.
B