Yaskawa MP900 Series Motion Programming Manual - Manual (Page 24)

Overview of Motion Programs
1.1.2 Function Performance
1 -10
Item Specification
Position
Control 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
Override
Function 0 to 327.67% (0.01% scale)
Coordinate System Rectangular coordinates
Zero Point Return Eight types
S
DEC1 + Phase C
S DEC2 + Phase C
S DEC1 + LMT
S Phase C
S DEC1 + ZERO
S DEC2 + ZERO
S DEC1 + LMT + ZERO
S ZERO
Programs Language Special motion language, ladder language
Number of
Tasks Up to 8 axes can be executed in parallel.
Number of
Programs Up to 32
Program
Capacity 80 Kbytes
Speed Control Speed
Reference
-327.68 to +327.67%/rated speed
With torque limit function
Acceleration/
Deceleration
Type Linear, asymmetric, S-curve (averaging movement)
Torque
Control Torque
Reference -327.68 to +327.67%/rated torque
With speed limit function
Phase Control Speed
Reference
Unit
-327.68 to +327.67%/rated speed
Speed
Correction -327.68 to +327.67%/rated speed
Position
Correction -2147483648 to +2147483647 pulses
1