Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 148)

8.1 Axis Setting Commands
8-41
8
Command Reference
(3) Setting Items for IAC Command
Motion Image
a) Interpolation acceleration time
Specify a numerical value or register following to character T in the IAC command block.
The time set by executing an IAC command is the time required to reach the maximum feed speed from the
speed of 0.
The interpolation acceleration time reference range is as follows.
(4) Programming Examples
An IAC command programming example is shown below.
Fig. 8.21 Interpolation Acceleration Time Change Command Programming Example
0 to 32767 (ms)
Speed (V)
Max. feed speed
for interpolation
(FMX)
(Composite speed)
Time (t)
a) Interpolation
acceleration time (IAC)
Feed speed for
interpolation
(F designation or IFP)
(Composite speed)
INC;
FMX T300000;
IDC T4000;
IAC T2000;
MVS [A1]30000 [B1]30000 F150000;
DL00000 = 4000;
IAC TDL00000;
MVS [A1]30000 [B1]30000;
END; " Incremental mode
" Maximum interpolation feed speed setting [reference unit/min]
" Interpolation deceleration time change [ms]
" Interpolation acceleration time change [ms]
" Linear interpolation
" Interpolation acceleration time [ms]
" Interpolation acceleration time change [ms]
" Linear interpolation
EXAMPLE
Time (t)
[s]
300000
2 s
150000
Composite speed (V)
[reference unit/min]
4 s
FMX
F command of
MVS
IAC IAC