YASKAWA SVC - Page 332

4.5 Motion Language Instructions
4-189
4
Motion Control Program Commands and Instructions
Axis
Setting
IFP
Set Interpola-
tion Feed
Speed Ratio
IFP Pinterpolation_feeding_speed_ra-
tio;
Sets the speed for interpolation
instructions.
Specify the speed as a per-
centage of the maximum
speed.
IAC
Change Inter-
polation
Acceleration
Time
IAC Tinterpolation_acceleration_time;
Sets the acceleration time for
interpolation instructions.
Specify the time required to
reach the maximum speed
from a speed of 0.
IDC
Change Inter-
polation
Deceleration
Time
IDC Tinterpolation_deceleration_time;
Sets the deceleration time for
interpolation instructions.
Specify the time required to
decelerate to a speed of 0 from
the maximum speed.
IDH
Change Inter-
polation
Deceleration
Time for Tem-
porary Stop
IDH Tinterpolation_deceleration_time_-
for_temporary_stop;
Sets the deceleration time for
interpolation instructions when
the axis is temporarily stopped.
Specify the time required to
decelerate to a speed of 0 from
the maximum speed.
IUT
Change Inter-
polation
Acceleration/
Deceleration
Unit
IUT Uinterpolation_acceleration/decel-
eration_unit_number;
Changes the acceleration/
deceleration unit for interpola-
tion instructions (MVS, SKP,
MCW, and MCC).
(+ or -)
Set Interpola-
tion Feed
Speed Axes
MVS [+ Logical_axis_name_1] Refer-
ence_position
[+ Logical_axis_name_2] Refer-
ence_position
[- Logical_axis_name_3] Refer-
ence_position ...;
Specifies the axes to use as
component axes for the inter-
polation feed speed.
If “+” or nothing is given before
the logical axis name, the axis
is used as one of the compo-
nent axes for the interpolation
feed speed.
If “-” is given before the logical
axis name, the axis operates at
a speed that is synchronized
with the interpolation feed
speed.
ACCM
ODE
Set Interpola-
tion Accelera-
tion/
Deceleration
Mode
ACCMODE Mmode_number;
Sets the acceleration/decelera-
tion mode for interpolation
instructions.
This allows you to specify pro-
cessing multiple interpolation
instructions in succession.
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onti
nued from previous page.
Instruc-
tion
Type
Instruc-
tion
Name Format Description