Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 323)

Appendices
A.1 Axis Setting Commands
A-2
A Motion Language Commands
Motion language commands are listed below. Refer to Chapter 8 Command Reference for details on each com-
mand.
A.1 Axis Setting Commands
−
Applicable Not applicable
Com-
mand
Name Programming Format Description
Motion Programs
Sequ
ence Programs
ABS Absolute Mode
ABS;
or
ABS MOV [Logical axis name 1] - [Logi-
cal axis name 2] - ;
Treats all subsequent coordinate
words as absolute values.
−
INC
Incremental
Mode
INC;
or
INC MOV [Logical axis name 1] - [Logical
axis name 2] - ;
Treats all subsequent coordinate
words as incremental values.
−
ACC
Acceleration
Time Change
ACC [Logical axis name 1]Acceleration
time [Logical axis name 2] Acceleration
time [Logical axis name 3] Acceleration
time ;
Sets the acceleration time for linear
acceleration/deceleration for up to
16 axes simultaneously.
−
DCC
Deceleration
Time Change
DCC [Logical axis name 1] Deceleration
time [Logical axis name 2] Deceleration
time [Logical axis name 3] Deceleration
time ; Sets the deceleration time for a
positioning related command.
A maximum of 16 axes can be des-
ignated in one command block.
−
SCC
S-curve Time
Constant
Change SCC [Logical axis name 1] S-curve time
constant [Logical axis name 2] S-curve
time constant ; Sets the time constant for moving
average acceleration/deceleration
for up to 16 axes simultaneously.
−
VEL Set Velocity
VEL [Logical axis name 1] Feed speed
[Logical axis name 2] Feed speed [Logi-
cal axis name 3] Feed speed ;
Sets the speed for a positioning
related command.
A maximum of 16 axes can be des-
ignated in one command block.
−
FMX
Maximum Inter-
polation Feed
Speed Setting
FMX T Maximum interpolation feed
speed ;
Sets the maximum speed during an
interpolation feed.
The interpolation acceleration time
is the time taken from “0” until this
speed is reached.
−
IFP
Interpolation
Feed Speed
Ratio Setting
IFP P Interpolation feed speed ratio ;
Sets the speed for an interpolation
related command.
Designate a percentage of the max-
imum speed as the interpolation
feed speed ratio.
−
IAC
Interpolation
Acceleration
Time Change
IAC T Interpolation acceleration time ;
Sets the acceleration time for an
interpolation related command.
Designate the time required to
reach the maximum speed from the
speed 0 (zero).
−
IDC
Interpolation
Deceleration
Time Change
IDC T Interpolation deceleration time ;
Sets the deceleration time for an
interpolation related command.
Designate the time required to
decelerate to the speed 0 (zero)
from the maximum speed.
−