Yaskawa MP930 - Manual (Page 16)

MP930
1.1.2 Features of the MP930
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MC Unit I/O Unit
MECHATROLINK-compatible
Servopacks
Up to 14 stations
J Wide Range of Motion Commands
Commands such as those shown in the following table can be used.
Complete Range of Move
Commands POSITIONING, LINEAR INTERPOLATION, CIRCULAR INTER-
POLATION, HELICAL INTERPOLATION, HOME RETURN,
SKIP, SET TIME POSITIONING, and EXTERNAL POSITIONING
Immediately Effective
Acceleration/Deceleration
Commands ACCELERATION/DECELERATION TIME, S-CURVE TIME
CONSTANT, FEED SPEED SETTING, INTERPOLATION FEED
ACCELERATION/DECELERATION TIME SETTING, MAXI-
MUM INTERPOLATION FEED SPEED SETTING, and so on
Many Control Commands I/O WAIT, IF statement, WHILE statement, Parallel Execution com-
mands, Select Execution commands, and so on
Wide Range of Math and
Logic Commands Integer arithmetic commands: ADD, SUBTRACT, MULTIPLICA-
TION, DIVISION
Floating-point commands: Addition, Subtraction, Multiply, Divide
Logic operations, SET BIT, RESET BIT
BCD-TO-BINARY, BINARY-TO-BCD
Trigonometric functions, inverse trigonometric functions, SQUARE
ROOT, and so on
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