3 function performance list – Yaskawa MotionSuite Series Machine Controller Programming Manual User 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