Yaskawa MP920 Motion Module - Manual (Page 25)

1.3 Specifications
1-11
1
1.3.2 Function Lists
Table 1.2 lists the motion control function specifications for the MP920.
Table 1.2 MP920 Motion Control Function Specifications
Item Specification
Description SVA-01A SVA-02A SVB-01 PO-01
Model Number JEPMC-MC200A JEPMC-MC220A JEPMC-MC210 JEPMC-PL210
Interface Analog Analog MECHATROLINK Pulse
Number of Controlled Axes per Module 4 2 14 4
Maximum Number of Modules 15 16 16 16
Control
Specifi-
cations PTP Control Linear, rotary, infinite-length, and independent axes
Interpolation Up to 16 linear axes, 2 circular axes, and 3 helical axes
Speed Reference Output Yes Yes No No
Torque Reference Output No Yes No No
Phase Control Yes Yes No No
Position
Control Positioning Yes Yes Yes Yes
External Positioning Yes Yes Yes No
Zero Point Return Yes Yes Yes Yes
Interpolation Yes Yes Yes Yes
Interpolation with
Position Detection Yes Yes Yes No
Fixed-speed Feed Yes Yes Yes Yes
Fixed-length Feed Yes Yes Yes Yes
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, pulses/min
Acceleration/Deceleration Type Linear, asymmetric, S-curve, exponential
Override Function Positioning: 0.01% to 327.67% by axis
Interpolation: 0.01% to 327.67% by group
Coordinate System Rectangular coordinates
Zero
Point
Return DEC1 + Phase-C Yes Yes Yes No
DEC2 + Phase-C Yes Yes No No
DEC1 + LMT + C Yes Yes No No
Phase-C Yes Yes Yes No
DEC1 + ZERO Yes No Yes Yes
DEC2 + ZERO Yes No No Yes
DEC1 + LMT + ZERO Yes No No Yes
ZERO Yes No Yes No
Pro-
grams Language Special motion language, ladder logic program
Number of Tasks Up to eight programs can be executed in parallel.
Number of Programs Up to 256
Program Capacity 80 Kbytes