Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 134)

8.1 Axis Setting Commands
8-27
8
Command Reference
(b) Movement Path by Interpolation Command and S-Curve Acceleration/Deceleration
The S-curve acceleration/deceleration influences the movement path by using the interpolation related com-
mand MVS. MCW, MCC, or SKP.
• To achieve the same motion path as when the S-curve acceleration/deceleration is disabled for linear inter-
polation, set the same S-curve time constant for all the axes involved in interpolation.
• When the S-curve acceleration/deceleration is enabled for circular interpolation, the motion path will not
be the same as when the S-curve acceleration/deceleration is disabled.
• Axis Movement Path by Linear Interpolation
• Axis Movement Path by Circular Interpolation
Y1
X1
Start position
End position
When the acceleration/deceleration
filter is disabled.
Y1
X1
Start position
End position
Y1
X1
Start position
End position
When the S-curve acceleration/
deceleration is enabled,
and the S-curve time constants
are matched.
When the S-curve acceleration/
deceleration is enabled, and
the S-curve time constants are
unmatched.
S-curve time constant
X1>Y1
EXAMPLE
EXAMPLE
Y1
X1
Y1
X1
Start position
End position
Start position
End position
Y1
X1
Start position
End position
S-curve time constant
X1>Y1
When the S-curve acceleration/
deceleration is enabled, and the
S-curve time constants are
unmatched.
When the S-curve acceleration/
deceleration is enabled, and the
S-curve time constants are
matched.
When the acceleration/deceleration
filter is disabled.