Yaskawa MP920 User's Manual Design - Manual (Page 535)

Appendix A
A.2.2 Motion Command List
A-20
Basic Control
Commands
(cont’d) 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 coordi-
nate system set automatically on comple-
tion of the zero point return is called a
machine coordinate system. This coordi-
nate 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 16 axes can be designated.
Speed and
Acceleration/
Deceleration
Commands ACC ACCELERATION
TIME CHANGE ACC [axis1] − [axis2] − ⋅⋅⋅; Sets the acceleration time for linear
acceleration/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 aver-
age acceleration/deceleration for up to
16 axes simultaneously.
VEL SET VELOCITY VEL [axis1] − [axis2] − ⋅⋅⋅; Sets the feed speed for up to 16 axes.
IAC INTERPOLA-
TION ACCELER-
ATION TIME
CHANGE IAC T −; Sets the acceleration time for linear
acceleration/deceleration for interpola-
tion travel.
IDC INTERPOLA-
TION DECELER-
ATION TIME
CHANGE IDC T −; Sets the deceleration time for linear
acceleration/deceleration for interpola-
tion travel.
IFP INTERPOLA-
TION FEED
SPEED RATIO
SETTING IFP P −; Designates the maximum feed % for the
speed designation during an interpola-
tion feed.
FMX MAXIMUM
INTERPOLA-
TION 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.
High-Level
Control
Commands PFN IN-POSITION
CHECK MVS [axis1] − [axis2] − ⋅⋅⋅
PFN;
or
PFN [axis1] [axis2] ;
Proceeds to the next block after the posi-
tioning commanded by the interpolation
travel command in the same block or a
previous block enters the positioning
completion range (parameter setting).
INP SECOND IN-
POSITION
CHECK INP [axis1] − [axis2] − ⋅⋅⋅; Proceeds to the next block after the posi-
tioning subsequently commanded by the
interpolation travel command with PFN
enters the second positioning completion
range.
(cont’d)
Classification Command Name Programming Format Function/Meaning