Yaskawa MP900 Series Motion Programming Manual - Manual (Page 19)

1.1 Motion Programming
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1.1.2 Function Performance
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MP910 Motion Control Function Specifications
Table 1.1 lists the motion control function specifications for the MP910.
Table 1.1 MP910 Motion Control Function Specifications
Item Specification
Number of Controlled Axes 1 to 28 axes (14 axes/port, two ports max.)
Control
S
ifi ti
PTP Control Linear, rotary, and infinite-length axes
Specifications Interpolation
Up to 14 axes for linear interpolation, 2 axis for circular inter-
polation, 3 axis for helical interpolation
Speed Control None
Torque Limit
Yes (According to parameter settings only)
Reference Unit mm, inch, deg, pulse
Reference Unit Minimum
Setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum Programmable Value −2147483648 to +2147483647 (signed 32-bit value)
Speed Reference Unit
mm/min, inch/min, deg/min, pulse/min
Acceleration/Deceleration Type Linear, asymmetric, S-curve
Asymmetric acceleration/deceleration is not possible with
POSITIONING (MOV).
Override Function Positioning: 0.01% to 327.67% by axis
Interpolation: 0.01% to 327.67% by group
Coordinate System Rectangular coordinates
Zero Point Return Four types
Dog + Phase C, zero point limit switch, dog + Zero point
limit switch, Phase C
Zero point setting function provided.
Programs Language Special motion language
Number of
Tasks Up to four programs can be executed in parallel.
Number of
Programs Up to 256
Program
Capacity Equivalent to 80 Kbytes (characters)
(Can be increased or decreased according to the size of ladder
logic program used; maximum of 100 Kbytes.)
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