Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 147)

8 Command Reference
8.1.9 Interpolation Acceleration Time Change (IAC)
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8.1.9 Interpolation Acceleration Time Change (IAC)
(1) Overview
The Interpolation Acceleration Time Change command (IAC) changes the acceleration time for the following
axis move commands.
• Linear Interpolation command (MVS)
• Circular Interpolation command (MCW, MCC)
• Helical Interpolation command (MCW, MCC)
• SKP command (Linear interpolation with skip function) (SKP)
In this manual, the above axis move commands are referred to as interpolation related commands.
The Maximum Interpolation Feed Speed Setting command (FMX) must be executed before executing the IAC
command. The acceleration time changed by the IAC command remains until it is reset by the next IAC com-
mand.
The interpolation acceleration time is 0 ms when the program starts running.
Fig. 8.20 Interpolation Acceleration Time Change Command (IAC)
The Interpolation Acceleration Time Change command (IAC) changes the acceleration time for interpolation related com-
mands MVS, MCW, MCC, and SKP.
Use ACC command to set the acceleration time for positioning related commands MOV, EXM, and MVT.
(2) Format
Motion Programs Sequence Programs
Applicable Not applicable
Speed (V)
Time (t)
Before interpolation acceleration time change
Speed (V)
Time (t)
After interpolation acceleration time change
Feed speed
for interpolation
Max. feed speed
for interpolation
Feed speed
for interpolation
Max. feed speed
for interpolation
IAC
IAC
INFO
IAC
T Interpolation acceleration time ;
Item Unit Usable Data
Interpolation
acceleration
time
ms Directly designated value
Double integer type register (Indirect designation)