Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 146)

8.1 Axis Setting Commands
8-39
8
Command Reference
• When using an interpolation override
• The interpolation feed speed can be specified by using either an IFP command or F designation.
Refer to b) Interpolation feed speed in (3) Setting Items for MVS Command in 8.2.2 Linear Interpolation (MVS) for
details.
• If a value higher than 100 (%) is specified for the IFP reference value (%), an alarm will occur in the motion program.
• If an interpolation override applied interpolation feed speed exceeds the FMX reference value, the actual output value
of the interpolation feed speed will be reset to the FMX reference value.
(4) Programming Examples
An IFP command programming example is shown below.
Fig. 8.19 Interpolation Feed Speed Ratio Setting Command (IFP)
(5) Supplemental Information on IFP Command
(a) Related Motion Parameters
There is no motion setting parameter related to the IFP command.
The interpolation feed speed ratio specified by executing an IFP command is the control data exclusively
reserved for motion programs, and cannot be specified by using a motion setting parameter.
Interpolation
feed speed
FMX
reference value
FMX reference value ×
IFP reference value
1 to 100%
= Interpolation feed speed × Interpolation override
0 to 327.67%
IFP
reference value
Interpolation
override
INFO
INC;
FMX T300000;
IAC T4000;
IDC T4000;
IFP P75;
MVS [A1]30000 [B1]30000;
DL00000 = 50;
IFP PDL00000;
MVS [A1]30000 [B1]30000;
END; " Incremental mode
" Maximum interpolation feed speed setting [reference unit/min]
" Interpolation acceleration time change [ms]
" Interpolation deceleration time change [ms]
" Interpolation feed speed ratio setting [%]
" Linear interpolation
" Interpolation feed speed ratio [%]
" Interpolation feed speed ratio setting [%]
" Linear interpolation
EXAMPLE
Time (t)
100
Composit speed (V)
[%]
50
75
100% = Max. feed speed for interpolation
300000
225000
150000 (reference units/min)
(reference units/min)
(reference units/min)