Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 159)

8 Command Reference
8.2.2 Linear Interpolation (MVS)
8-52
b) Interpolation feed speed (F command or IFP)
Specify a numerical value or register following to character F in the MVS command block (F designation).
The specified interpolation feed speed is treated as a composite speed for all the specified axes.
The reference range is between 1 reference unit/min and the maximum feed speed for interpolation (FMX)
[reference units/min].
The feed speed of each axis is calculated using the following formula.
The feed speed of each axis [reference units/min]
= × interpolation feed speed [reference units/min]
For example, the feed speed of each axis in above condition is calculated as following.
Interpolation feed speed (the value of F) = 500 [reference units/min]
Composite moving amount = = 1500 [reference units]
• The feed speed of A1 axis = × 500 = 400 [reference units/min]
• The feed speed of B1 axis = × 500 = 300 [reference units/min]
You can select whether or not to apply an interpolation override to the F designation.
Refer to 4.3.3 Work Registers for information on how to use an interpolation override.
• When not using an interpolation override
• When using an interpolation override
The interpolation feed speed can also be specified as a percentage of the maximum feed speed for interpola-
tion (FMX).
Refer to 8.1.8 Interpolation Feed Speed Ratio Setting (IFP) for information how to specify an interpolation
feed speed as a percentage of the maximum feed speed for interpolation.
• If a value higher than the FMX reference value (reference units/min) is specified for an F designation (reference units/
min), a motion alarm will occur.
• If the interpolation override applied interpolation feed speed exceeds the FMX value, the output value of the interpola-
tion feed speed will be reset to the FMX reference value.
• When the interpolation feed speed is not specified in the command block, the interpolation feed speed specified in the
previous command block will be applied.
For the INC command block INC MVS[A1]1200 [B1]900 F500;
B1
A1
Interpolation feed speed
500 reference units /min
1200 reference units
900
reference units
INFO
composite moving amount [reference units]
moving amount of each axis [reference units]
1200 2 +900 2
1200
1500
900
1500
Interpolation
feed speed
F designation
F designation = Interpolation feed speed
Interpolation
feed speed
F designation
F designation = Interpolation feed speed
Interpolation
override
˜
Interpolation override
0 to 327.67%
INFO