Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 158)

8.2 Axis Move Commands
8-51
8
Command Reference
(3) Setting Items for MVS Command
Motion Image
a) Composite moving amount
The composite moving amount differs depending on the movement mode: ABS mode or INC mode.
• Composite moving amount in ABS mode
The difference between the program current position and the reference position
• Composite movement amount in ABS mode
The reference position is used as the moving amount.
Refer to 7.2.2 Reference Unit for information on the moving amount unit.
Speed (V)
b) Interpolation feed
speed
(F designation or
IFP)
Max. feed speed
for interpolation
(FMX)
a) Composite
moving
amount
Time (t)
Acceleration time
(IAC)
Deceleration time
(IDC)
c) Acceleration/deceleration type
B1
A1
1500 reference units
1200 reference units
900 reference units
INC command block: INC MVS[A1]1200 [B1]900;
Composite
moving
amount
2 + 900 2 = 1500
(reference unit) = 1200
INFO