Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 122)

8.1 Axis Setting Commands
8-15
8
Command Reference
• When bits 4 to 7 of OW 03 (Acceleration/deceleration degree unit selection) are set to
0 (reference unit/s 2 )
The following example shows when the MOV command is executed to accelerate the axis A1 at the rate of
60.000 (mm/s
2 ), and when the MOV command is executed to accelerate axis A1 at the rate of 100.000
(mm/s 2 ). In this example, one reference unit is set to 0.001 mm.
Fig. 8.7 Acceleration Time Change Command (ACC) Programming Example 2:
When Acceleration/Deceleration Degree Unit Selection is Set to 0 (Reference unit/s 2 )
INC;
VEL [A1]18000;
DCC [A1]100000;
ACC [A1]60000;
MOV [A1]5000000;
DL00000 = 100000;
ACC [A1] DL00000;
MOV [A1]5000000;
END; " Incremental mode
" Set Velocity [10
∗∗n reference units/min]
" Deceleration time change [reference unit /S ∗S]
" Acceleration rate change [reference unit/S ∗S]
" Positioning
" Acceleration rate [reference unit/S
∗S]
" Acceleration rate change [reference unit/S ∗S]
" Positioning
END;
EXAMPLE
Speed (V)
[0.001 mm/s]
Time (t)
[s]
300000
18000 (mm/min)
= 300000 (0.001 mm/s)
VEL
ACC
60.000 mm/s
2
ACC
100.000 mm/s
2