YASKAWA SVC - Motion Language Instructions

4.5 Motion Language Instructions
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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
Typ e
Instruc-
tion
Name Format Description
Axis
Setting
ABS
Absolute
Mode
ABS;
or
ABS MOV [Logical_axis_name_1] −
[Logical_axis_name_2] − ;
Causes all subsequent coordi-
nates to be treated as absolute
values.
INC
Incremental
Mode
INC;
or
INC MOV [Logical_axis_name_1] −
[Logical_axis_name_2] − ;
Causes all subsequent coordi-
nates to be treated as incre-
mental values.
ACC
Change Accel-
eration Time
ACC [Logical_axis_name_1] Accelera-
tion_time
[Logical_axis_name_2] Accelera-
tion_time
[Logical_axis_name_3] Accelera-
tion_time ... ;
Sets the acceleration times for
positioning instructions.
A maximum of 10 axes can be
designated in one instruction
block.
DCC
Change
Deceleration
Time
DCC [Logical_axis_name_1] Decelera-
tion_time
[Logical_axis_name_2] Decelera-
tion_time
[Logical_axis_name_3] Decelera-
tion_time ... ;
Sets the deceleration times for
positioning instructions.
A maximum of 10 axes can be
designated in one instruction
block.
SCC
Change S-
curve Time
Constant
SCC [Logical_axis_name_1] S-curve_-
time_constant
[Logical_axis_name_2] S-curve_-
time_constant ... ;
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
in
terpolation instructi
ons.
VEL Set Speed
VEL [Logical_axis_name_1] Feed_-
speed
[Logical_axis_name_2] Feed_-
speed
[Logical_axis_name_3] Feed_-
speed ... ;
Sets the speeds for positioning
instructions.
A maximum of 10 axes can be
designated in one instruction
block.
FMX
Set Maximum
Interpolation
Feed Speed
FMX Tmaximum_interpolation_feed_-
speed;
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.
IFMX
Set Maximum
Individual Axis
Speeds for
Interpolation
IFMX [Logical_axis_name_1]Maxi-
mum_individual_axis_speed_-
for_interpolation
[Logical_axis_name_2]Maxi-
mum_individual_axis_speed_-
for_interpolation
Sets the maximum speeds for
the individual axes that are
specified for interpolation
instructions.
You can set a different speed
limit for each axis.
FUT
Change Inter-
polation Feed
Speed Unit
FUT Uinterpolation_feed_-
speed_unit_number;
Changes the speed unit for
interpolation instructions.
Continued on next page.