Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 137)

8 Command Reference
8.1.6 Set Velocity (VEL)
8-30
(3) Setting Items for VEL Command
Motion Image
a) Rated speed
Use motion fixed parameter 34 (Rated motor speed) to set the rated speed of each axis.
For details, refer to the manual for the motion module to be used.
b) Acceleration time/Deceleration time
Use the Acceleration Time Change (ACC)/Deceleration Time Change (DCC) command to set the accelera-
tion/deceleration time for each axis.
The time set by executing ACC command is the time required to reach the rated speed.
c) Speed unit
Use bits 0 to 3 (Speed unit selection) of motion setting parameter OW 03 to set the speed unit for each
axis. The default is 10 n reference units/min.
The setting unit for VEL command when 10 n reference units/min is selected for the speed unit is determined by the
motion fixed parameter 4: Reference unit selection.
d) Positioning speed
Specify a numerical value or register using a VEL command.
Parameter Name Register No. Speed Unit Reference Range
Function setting 1,
Speed unit selection
OW 03,
bit 0 to 3
0: Reference units/s 0 to 2 31 -1 (reference units/s)
1:10 n reference units/min 0 to 2 31 -1 (10 n reference units/min)
2: 0.01% (percentage of
rated speed)
0 to 32767 (0.01%)
3: 0.0001% (percentage of
rated speed)
0 to 3276700 (0.0001%)
Motion Fixed Parameter
4: Reference Unit
Selection
Speed Unit:
10 n reference units/
min
Remarks
pulse 1 = 1000 pulses/min
• When pulse is selected for reference unit: n = 3
• When a reference unit other than pulse is selected:
n = Motion fixed parameter 5: Number of digits below
decimal point
mm 1 = 1 mm/min
deg 1 = 1 deg/min
inch 1 = 1 inches/min
μm 1 = 1 μm/min
Speed (V)
a) Rated speed
d) Positioning speed
(VEL)
Time (t)
b) Acceleration time
(ACC)
b) Deceleration time
(DCC)
[ c) Speed unit ]
INFO