Yaskawa LEGEND-MC - Manual (Page 278)

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LEGEND-MC User’s Manual
Specifying Vector Speed for Each Segment:
The vector speed may be specified by the immediate command VS. It can also be attached to a motion
segment with the instructions
VP x < n >m
The first parameter, <n, is equivalent to commanding VSn at the start of the given segment and will cause
an acceleration toward the new commanded speeds, subjects to the other constraints.
The second parameter, > m, requires the vector speed to reach the value m at the end of the segment. Note
that the function > m may start the deceleration within the given segment or during previous segments, as
needed to meet the final speed requirement, under the given values of VA and VD.
Note, however, that the controller works with one > m command at a time. As a consequence, one
function may be masked by another. For example, if the function >100000 is followed by >5000, and the
distance for deceleration is not sufficient, the second condition will not be met. The controller will attempt
to lower the speed to 5000, but will reach that at a different point.
Changing Feedrate:
The command VR n allows the feedrate, VS, to be scaled from 0 and 10 times with a resolution of .0001.
This command takes effect immediately and causes VS scaled. VR also applies when the vector speed is
specified with the ‘<’ operator. This is a useful feature for feedrate override. VR does not ratio the
accelerations. For example, VR .5 results in the specification VS 2000 act as VS 1000.
Trippoints:
The AV n command is the After Vector trippoint, which waits for the vector relative distance of n to occur
before executing the next command in a program.
Command Summary - Coordinated Motion Sequence
Command Description
VM m,n Specifies the axes for planar motion where m and n represent the planar axes
and p is the tangent axis.
VP m,n Return coordinate of last point, where m=X,Y,Z or W.
VS n Specify vector speed or feedrate of sequence.
VA n Specify vector acceleration along the sequence.
VD n Specify vector deceleration along the sequence.
VR n Specify vector speed ratio
BGS Begin motion sequence
CS Clear sequence.
AV n Trippoint for After Relative Vector distance, n.
AMS Holds execution of next command until Motion Sequence is complete.
VT S curve smoothing constant for coordinated moves
LM? Return number of available spaces for linear and circular segments in
LEGEND-MC sequence buffer. Zero means buffer is full. 512 means buffer is
empty.