Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 145)

8 Command Reference
8.1.8 Interpolation Feed Speed Ratio Setting (IFP)
8-38
(2) Format
IFP command cannot be coded in the same block used for an interpolation command MVS, MCW, MCC, or SKP.
(3) Setting Items for IFP Command
Motion Image
a) Interpolation feed speed ratio
Specify a numerical value or register following to character P in the IFP command block.
The IFP command sets a percentage of the maximum interpolation feed speed (FMX) as the interpolation
feed speed.
The interpolation feed speed is a composite speed of all the axes specified for an interpolation related com-
mand MVS, MCW, MCC, or SKP.
The interpolation feed speed ratio reference range is as follows.
You can select whether or not to apply an interpolation override to the interpolation feed speed.
Refer to 4.3.3 Work Registers for information on how to use the interpolation override.
• When not using an interpolation override
IFP
P Interpolation feed speed ratio;
Item Unit Usable Data
Interpolation
feed speed
ratio
% Directly designated value
Double integer type register (Indirect designation)
INFO
1 to 100 (%)
Speed (V)
[%]
Time (t)
100
Max. feed speed
for interpolation
(FMX)
(Composite speed)
a) Interpolation feed
speed ratio
(IFP)
Interpolation
acceleration time
(IAC)
Interpolation
deceleration time
(IDC)
FMX reference value ×
IFP reference value
1 to 100%
= Interpolation feed speed
Interpolation
feed speed
FMX
reference value
IFP
reference value