Yaskawa MP940 Reference Manual - Manual (Page 16)

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
2-6
PLC Function Specifications
Command Language Axis Motion Commands 5
MOV, MVS, ZRN, SKP, EXM
Basic Control Commands 5
ABS, INC, POS, MVM, PLD
Speed, Accel/decel commands 8
ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX
Upper-level Control Commands 4
PFN, INP, SNG, UFC
Control Commands 10
MSEE, TIM, IOW, END, RET, EOX, IF, ELSE, IEND, WHILE WEND,
SFORK, JOINTO, SJOINT
Operations/Sequence Control Commands 32
=, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN, ASN, ACS,
ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=, SFR, SFL, BLK, CLR
Item Specification
Program Capacity For every 2k steps (varies according to the size of the motion program. 40k steps
maximum)<H>
Control Format Sequence: Scan Format
Program Language CP Code
Ladder Diagram: Relay Circuit
Text-type language: Numerical operations, logical operations, etc.
Scan Servo Control Scan Time Setting: 0.5 / 1.0 / 2.0 / 4.0 ms
High-speed Scan Time Setting: 0.5 ~ 32.0ms (0.01ms units) S scan integer multiples
Low-speed Scan Time Setting: 2.0 ~ 200.0ms (0.01ms units) S scan integer multi-
ples
User Diagrams
Functions, Motion
Programs Start Drawing (DWG.A):Maximum of 4 drawings, with up to 3 layers per drawing
System Scan Drawing (DWG.S): Maximum of 16 drawings, with up to 3 layers per
drawing
High-speed Scan
Drawing (DWG.H)
Low-speed Scan
Drawing (DWG.L)
Interrupt Drawing (DWG.I)
Number of steps
User Functions
Motion Programs
:Maximum of 16 drawings, with up to 3 layers
per drawing
:Maximum of 32 drawings, with up to 3 layers
per drawing
:Maximum of 8 drawings, with up to 3 layers per
drawing
:Maximum 500 steps/drawing
:Maximum 32 functions
:Maximum 32
Drawing, Motion Program Modification History
Drawing, Motion Program Secure Holding Function
Item Specification