Yaskawa MP2000 Series: User's Manual for Motion Programming User Manual
Page 122
8.1 Axis Setting Commands
8-15
8
Command Reference
• When bits 4 to 7 of OW
03 (Acceleration/deceleration degree unit selection) are set to
0 (reference unit/s
2
)
The following example shows when the MOV command is executed to accelerate the axis A1 at the rate of
60.000 (mm/s
2
),
and when the MOV command is executed to accelerate axis A1 at the rate of 100.000
(mm/s
2
).
In this example, one reference unit is set to 0.001 mm.
Fig. 8.7 Acceleration Time Change Command (ACC) Programming Example 2:
When Acceleration/Deceleration Degree Unit Selection is Set to 0 (Reference unit/s
2
)
INC;
VEL [A1]18000;
DCC [A1]100000;
ACC [A1]60000;
MOV [A1]5000000;
DL00000 = 100000;
ACC [A1] DL00000;
MOV [A1]5000000;
END;
" Incremental mode
" Set Velocity [10
∗∗n reference units/min]
" Deceleration time change [reference unit /S
∗S]
" Acceleration rate change [reference unit/S
∗S]
" Positioning
" Acceleration rate [reference unit/S
∗S]
" Acceleration rate change [reference unit/S
∗S]
" Positioning
END;
EXAMPLE
Speed (V)
[0.001 mm/s]
Time (t)
[s]
300000
18000 (mm/min)
= 300000 (0.001 mm/s)
VEL
ACC
60.000 mm/s
2
ACC
100.000 mm/s
2