Yaskawa MP930 - Manual (Page 30)

2.1 Specifications
2 -5
Item Specification
Coordinate System Rectangular coordinates
Zero Point Return Four types
Dog + phase C, zero point limit switch, dog + zero point
limit switch, phase C
Home position setting function provided.
Programs Language Special motion language
Number of
Tasks Multiple programs can be executed in parallel.
Number of
Programs Up to 256
Program
Capacity Equivalent to 80 Kbytes (characters)
(Can be increased or decreased according to the size of ladder
logic program used; maximum of 100 Kbytes.)
Applicable Servopack SGD-jjjN/SGDB-jjAN
Encoder Incremental or absolute
Command Words Axis Move Commands: 8 commands
MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM
Basic Control Commands: 6 commands
ABS, INC, POS, PLN, MVM, PLD
Speed and Acceleration/Deceleration Commands: 7 commands
ACC, SCC, VEL, IAC, IDC, IFP, FMX
High-level Control Commands: 4 commands
PFN, INP, SNG, UFC
Control Commands: 10 commands
MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO PJOINT, SFORK JOIN-
TO SJOINT
Math and Sequence Control Commands: 32 commands
=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,
SFR, SFL, BLK, CLR
J
PLC Function Specifications
Table 2.5 lists the PLC function specifications.
Table 2.5 PLC Function Specifications
Item Specifications
Program Capacity Equivalent to 4 Ksteps (varies according to amount of motion program used; 20 Ksteps max.)
Control Method Sequence: High-speed and low-speed scan methods
Programming
Language CP language
Ladder logic diagram: Relay circuit
Text-type language:
Numeric operations, logic operations, etc.
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