Yaskawa MP900 Series Motion Programming Manual - Manual (Page 77)

Motion Commands
2.1.7 SET TIME POSITIONING (MVT)
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1. The speed designation (F) must be specified in the same block as the SKP command.
2. The INTERPOLATION FEED SPEED RATIO SETTING command (IFP) is an isolated command, and
cannot be specified in the same block as the interpolation command.
3. If the override applied to the F designation results in a speed greater than the maximum interpolation feed
speed (FMX), the speed will be clamped to the FMX speed.
4. The moving axis decelerated to a stop. The SKP command, however, remains in effect until the position-
ing completion signal turns ON.
2.1.7 SET TIME POSITIONING (MVT)
J Overview
The SET TIME POSITIONING (MVT) command uses the same operations as POSITIONING
(MOV) to move each axis from the current position to the end position. To complete positioning
in the specified time, the feed speed of each axis is clamped. This command does not use an inter-
polation operation, and there is no restriction on completing the positioning for all the designated
axes simultaneously. There is a time lag with the acceleration/deceleration setting.
Up to 14 axes* can be designated simultaneously. Any axis that is not specified in the command
will not be moved.
* Number of axes with simultaneous control for the MP930.
The number of simultaneously controlled axes differs depending on the model of the Ma-
chine Controller. Refer to 1.1.2 Function Performance for details.
J Description
The MVT command is designated as follows:
MVT [axis1] − [axis2] − ⋅⋅⋅ T−;
Reference position Positioning time (ms)
Feed speed
Clamped feed speed
Positioning time
v
t
Figure 2.17 SET TIME POSITIONING (MVT)
D If an override is used, positioning will not be completed in the specified time.
D If a filter is used, the positioning time will be delayed by the filter time constant.
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