Yaskawa MP920 User's Manual Design - Manual (Page 53)

2.1 Specifications
2-27
2
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
POSITION SET POS [axis1] − [axis2] − ···; Changes the current values to the desired
coordinate values for up to 16 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
designation command.
MVM MOVE ON
MACHINE
COORDINATE 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 sys-
tem 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 16 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 16 axes
simultaneously.
DCC DECELERATION
TIME CHANGE DCC [axis1] − [axis2] − ···; Sets the deceleration time for linear
acceleration/deceleration for up to 16
axes simultaneously.
SCC S-CURVE TIME
CONSTANT
CHANGE SCC [axis1] − [axis2] − ···; Sets the time constant for moving average
acceleration/deceleration for up to 16
axes simultaneously.
VEL SET VELOCITY VEL [axis1] − [axis2] − ···; Sets the feed speed for up to 16 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
acceleration/deceleration for interpolation
travel.
IFP INTERPOLATION
FEED SPEED
RATIO 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.
(cont’d)
Classification Command Name Programming Format Function/Meaning