Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 136)

8.1 Axis Setting Commands
8-29
8
Command Reference
8.1.6 Set Velocity (VEL)
(1) Overview
The Set Velocity command (VEL) changes the feed speed of each axis for the following axis move commands.
• Positioning (MOV)
• External positioning (EXM)
In this manual, the above axis move commands and the Set Time Positioning command (MVT) are referred to as
positioning related commands, and the feed speed of positioning related commands is referred to as positioning
speed.
The positioning speed for up to 16 axes can be changed at once. The positioning speed of an axis unspecified in
the VEL command block is not changed.
The axis positioning speed changed by a VEL command remains until it is reset by the next VEL command or it
is changed by executing the Set Time Positioning command.
Fig. 8.13 Set Velocity (VEL)
The Set Velocity command (VEL) sets the positioning speed for positioning related commands (MOV and EXM). Use F
designation
or IFP command to set the feed speed for interpolation related commands (MVS, MCW, MCC, and SKP).
(2) Format
Motion Programs Sequence Programs
Applicable Not applicable
Speed (V)
Time (t)
Before set velocity
Speed (V)
Time (t)
After set velocity
INFO
࡮࡮࡮ ;
Item Unit Usable Data
Positioning
speed
10 n
reference unit/min,
Reference unit/s,
0.01% (percentage of rated speed), or
0.0001% (percentage of rated speed)
࡮ Directly specified value
࡮ Double integer register (Indirect designation)
VEL [Logical axis name 1] Positioning speed [Logical axis name 2] Positioning speed
Note: Use bits 0 to 3 (Speed unit selection) of
motion setting parameter OW 03 to
select a setting unit.