Motion Language Instructions - YASKAWA SVC User Manual

4.5 Motion Language Instructions

4.5 Motion Language Instructions
Motion language instructions are used to write text-based motion control programs. This sec-
tion provides a list of motion language instructions required for motion programs. Refer to the
following manual for details on each language instruction.
Machine Controller MP3000 Series Motion Programming Manual (Manual No.: SIEP C880725 14)
Instruc-
tion
Type
Axis
Setting
4-188
Instruc-
Name
tion
ABS;
Absolute or
ABS
ABS MOV [Logical_axis_name_1] −
Mode
INC;
Incremental or
INC
INC MOV [Logical_axis_name_1] −
Mode
ACC [Logical_axis_name_1] Accelera-
Change Accel-
ACC
eration Time
DCC [Logical_axis_name_1] Decelera-
Change
DCC Deceleration
Time
SCC [Logical_axis_name_1] S-curve_-
Change S-
SCC curve Time
Constant
VEL
VEL Set Speed
Set Maximum
FMX Tmaximum_interpolation_feed_-
FMX Interpolation
Feed Speed
IFMX [Logical_axis_name_1]Maxi-
Set Maximum
Individual Axis
IFMX
Speeds for
Interpolation
Change Inter-
FUT
FUT polation Feed
Speed Unit
Format
[Logical_axis_name_2] − ;
[Logical_axis_name_2] − ;
tion_time
[Logical_axis_name_2] Accelera-
tion_time
[Logical_axis_name_3] Accelera-
tion_time ... ;
tion_time
[Logical_axis_name_2] Decelera-
tion_time
[Logical_axis_name_3] Decelera-
tion_time ... ;
time_constant
[Logical_axis_name_2] S-curve_-
time_constant ... ;
[Logical_axis_name_1] Feed_-
speed
[Logical_axis_name_2] Feed_-
speed
[Logical_axis_name_3] Feed_-
speed ... ;
speed;
mum_individual_axis_speed_-
for_interpolation
[Logical_axis_name_2]Maxi-
mum_individual_axis_speed_-
for_interpolation
Uinterpolation_feed_-
speed_unit_number;
Description
Causes all subsequent coordi-
nates to be treated as absolute
values.
Causes all subsequent coordi-
nates to be treated as incre-
mental values.
Sets the acceleration times for
positioning instructions.
A maximum of 10 axes can be
designated in one instruction
block.
Sets the deceleration times for
positioning instructions.
A maximum of 10 axes can be
designated in one instruction
block.
Sets the time constants for the
moving average filters.
A maximum of 10 axes can be
designated in one instruction
block.
The filters are valid for both
positioning instructions and
interpolation instructions.
Sets the speeds for positioning
instructions.
A maximum of 10 axes can be
designated in one instruction
block.
Sets the maximum speed for
interpolation instructions.
The interpolation acceleration
time is the time from a speed
of zero to this speed. The inter-
polation deceleration time is
the time from this speed to a
speed of zero.
Sets the maximum speeds for
the individual axes that are
specified for interpolation
instructions.
You can set a different speed
limit for each axis.
Changes the speed unit for
interpolation instructions.
Continued on next page.