Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 181)

8 Command Reference
8.2.9 Set Time Positioning (MVT)
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8.2.9 Set Time Positioning (MVT)
(1) Overview
The Set Time Positioning command (MVT) is an extended Positioning command (MOV).
The MVT command can simultaneously move up to 16 axes. An axis unspecified in the MVT command block
will not move.
With the MVT command, the feed speed of each axis is adjusted to complete positioning in the specified time.
The MVT command does not use an interpolation operation, and there is no restriction on completing the posi-
tioning for all the specified axes simultaneously.
There is a time lag caused by the acceleration/deceleration setting.
Fig. 8.42 Axis Movement with MVT Command
If an override is used, positioning will not complete in the specified time.
If a filter is used, the positioning time will be delayed by the filter time constant.
Fig. 8.43 Positioning Time Delay When a Filter is used
• If the positioning time is set to 0, an alarm will occur in the motion program.
• If the moving amount of any of the specified axes is set to 0, an alarm will occur in the motion program.
(2) Format
Motion Programs Sequence Programs
Applicable Not applicable
Speed (V)
Time
Positioning time
Clamped feed speed
Feed speed
Filter time constant
IMPORTANT
...
Item Unit Usable Data
Position reference Reference unit
Positioning time ms
Directly designated value
Double integer type register (Indirect designation)
MVT [Logical axis name 1] Reference position [Logical axis name 2] Reference position [Logical axis name 3] Reference position
T Positioning time ;