Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 14)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline
1-5
1.1.3 Function Performance List
The MP9xx motion program function specifications are as follows:
MP9xx Motion Control Function Specifications
Item Specifications
Number of Control Axes 1~14 maximum
Cont
rol
Sp
e
cs
Position Control Linear, rotational, unlimited, independent axis
Interpolation Linear: 14 axes, Circular: 2 axes, Helical: 3 axes
Speed Control None
Torque Limit Limited (torque limit set by parameters only)
Command Unit mm, inch, deg, pulse
Minimum Command Setting Unit 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum Command Value -2147483648~+2147483647 (with 32-bit symbols)
Speed Command Unit mm/min, inch/min, deg/min, pulse/min
Accel/Decel Type Linear, S-curve, separate accel/decel
Override Functions Positioning: 0.01~100.00% of axis unit
Interpolation: 0.01~100.00% of group unit
Coordinates Cartesian Coordinates
Zero-Point Return 4 Types:
Torque+C-phase, zero-point LS, torque+zero-point LS, C-phase
There is a zero-point setting function
P
rogra
m
s
Language Dedicated motion language
Number of Tasks A maximum of four programs can be simultaneously executed in parallel.
Number of Programs 256 maximum
Program Volume 80 Kbytes (characters)
(Adjustable by the volume of ladder program used: 100 Kbyte maximum)
Applied Servo Amplifier SGD-"""N/SGDB-""AN
Encoder Incremental/Absolute
Command Language Axis Motion Commands : 8 types
MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM
Basic Control Commands : 5 types
ABS, INC, POS, PLN, MVM
Speed/Accel/Decel Commands : 7 types
ACC, SCC, VEL, IAC, IDC, IFP, FMX
Advanced Control Commands : 4 types
PFN, INP, SNG, UFC
Control Commands : 9 types
MSEE, TIM, IOW, END, RET, IF ELSE IEND, WHILE WEND,
PFORK JOINTO PJOINT, SFORK JOINTO SJOINT
Operation/Sequence Control Commands : 36 types
=, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN, ASN, ACS,
ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=, TON, TOF, SFR, SFL,
PON, NON, BLK, CLR