Yaskawa MotionSuite Series Machine Controller Programming Manual User Manual
Page 36
MotionSuite™ Series Machine Controller Programming Manual
Chapter 1: Motion Programmming Outline
1-27
Ba
si
c Co
ntr
ol
Com
m
ands
ABS
Absolute
Mode
ABS;
Handles the subsequent coordi-
nate language as absolute values.
INC
Incremental
Mode
INC;
Handles the subsequent coordi-
nate language as incremental
values.
POS
Current
Value
Change
POS [axis1]— [axis2]— ...;
Simultaneously changes current
values for up to 14 axes to a
desired coordinate value. Subse-
quent motion commands move
based on this new coordinate sys-
tem.
PLN
Coordinate
Plane
Designation
PLN [axis1] [axis2]
Designates a coordinate plane to
be used in commands requiring a
coordinate plane.
MVM
Machine
Coordinate
Command
MVM MOV [axis1]— [axis2]— ; or
MVM MVS [axis1]— [axis2]— ;
Designated when motion on a
machine coordinate plane is
desired. At zero point return, the
automatically set coordinate sys-
tem is called the machine coordi-
nate. These coordinates are not
effected by POS commands.
S
p
ee
d
/A
cce
l/
D
ece
l
Com
m
ands
ACC
Accelera-
tion Time
Change
ACC [axis1]— [axis2]—...;
Simultaneously sets the accel/
decel time for the linear accel/
decel of up to 14 axes.
SCC
S-Curve
Time Con-
stant
Change
SCC [axis1]— [axis2]—...;
Simultaneously sets s-curve time
constant for the average accel/
decel for the motion of up to 14
axes.
VEL
Feed Speed
Change
VEL [axis1]— [axis2]—...;
Sets feed speed for up to 14 axes.
IAC
Interpola-
tion Accel-
eration Time
Change
IAC T—;
Sets the acceleration time for lin-
ear accel/decel during interpola-
tion motion.
IDC
Interpola-
tion Decel-
eration Time
Change
IDC T—;
Sets the deceleration time for lin-
ear accel/decel during interpola-
tion motion.
IPF
Interpola-
tion Feed
Speed Ratio
Setting
IFP P—;
Executes speed designation dur-
ing interpolation feed by desig-
nating a maximum speed %.
FMX
Interpola-
tion Feed
Maximum
Speed Set-
ting
FMX T—;
Sets the maximum speed during
interpolation feed.
The interpolation acceleration
time is the time to reach this
speed from 0.
Type
Command
Name
Command Format
Function/Meaning