Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 138)

8.1 Axis Setting Commands
8-31
8
Command Reference
(4) Programming Examples
A VEL command programming example is shown below.
This example shows execution of a MOV command with the positioning speed specified as 40% of rated speed
and a MOV command with the positioning speed specified as 20% of rated speed.
Fig. 8.14 Set Velocity Command (VEL) Programming Example
Speed unit: Percentage of rated speed in unit of 0.01%
(5) Supplemental Information on VEL Command
(a) Related Motion Parameters
VEL command changes the positioning speed of the following motion setting parameter.
The positioning speed can be changed by directly changing the setting of motion setting parameter OL 10
(Speed reference setting) instead of executing the VEL command.
INC;
ACC [A1]5000;
DCC [A1]5000;
VEL [A1]4000;
MOV [A1]3000000;
VEL [A1]2000;
MOV [A1]3000000;
END; " Incremental mode
" Acceleration time change [ms]
" Deceleration time change [ms]
" Set Velocity [0.01%]
" Positioning
" Set Velocity [0.01%]
" Positioning
EXAMPLE
[A1] Speed (V)
[0.01%]
Time (t)
4000
2000
10000 Rated speed
VEL 40% of rated speed
20% of rated speed VEL
Parameter Name Register No. Description
Speed reference setting OL 10 Sets the speed reference value.