Yaskawa MotionSuite Series Machine Controller Programming Manual de usuario descargar pdf (Pagina 36)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1-27

Basic Control

Commands

ABS Absolute

Mode

ABS; Handles the subsequent coordi-

nate language as absolute values.

INC Incremental

Mode

INC; Handles the subsequent coordi-

nate language as incremental

values.

POS Current

Va lu e

Change

POS [axis1]— [axis2]— ...; Simultaneously changes current

values for up to 14 axes to a

desired coordinate value. Subse-

quent motion commands move

based on this new coordinate sys-

tem.

PLN Coordinate

Plane

Designation

PLN [axis1] [axis2] Designates a coordinate plane to

be used in commands requiring a

coordinate plane.

MVM Machine

Coordinate

Command

MVM MOV [axis1]— [axis2]— ; or

MVM MVS [axis1]— [axis2]— ;

Designated when motion on a

machine coordinate plane is

desired. At zero point return, the

automatically set coordinate sys-

tem is called the machine coordi-

nate. These coordinates are not

effected by POS commands.

Speed/Accel/Decel

Commands

ACC Accelera-

tion Time

Change

ACC [axis1]— [axis2]—...; Simultaneously sets the accel/

decel time for the linear accel/

decel of up to 14 axes.

SCC S-Curve

Time Con-

stant

Change

SCC [axis1]— [axis2]—...; Simultaneously sets s-curve time

constant for the average accel/

decel for the motion of up to 14

axes.

VEL Feed Speed

Change

VEL [axis1]— [axis2]—...; Sets feed speed for up to 14 axes.

IAC Interpola-

tion Accel-

eration Time

Change

IAC T—; Sets the acceleration time for lin-

ear accel/decel during interpola-

tion motion.

IDC Interpola-

tion Decel-

eration Time

Change

IDC T—; Sets the deceleration time for lin-

ear accel/decel during interpola-

tion motion.

IPF Interpola-

tion Feed

Speed Ratio

Setting

IFP P—; Executes speed designation dur-

ing interpolation feed by desig-

nating a maximum speed %.

FMX Interpola-

tion Feed

Maximum

Speed Set-

ting

FMX T—; Sets the maximum speed during

interpolation feed.

The interpolation acceleration

time is the time to reach this

speed from 0.

Type Command Name Command Format Function/Meaning

1 2 ... 31 32 33 34 35 36 37 38 39 40 41 ... 186 187

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