Yaskawa MP920 Motion Module - Manual (Page 318)

7 PO-01 Module Specification and Handling
7.2.1 Motion Control Functions
7-16
7.2 Functions
This section describes PO-01 Module functions.
7.2.1 Motion Control Functions
„ Motion Control
Each PO-01 Module can control the motion of up to four axes. The motion control functions
are positioning, zero point return, interpolation, feeding, and stepping. These can be set sep-
arately for all axes. Motion control can be set for each axis individually, so there is no limi-
tation on motion control by axis number.
A maximum 16 PO-01 Modules can be mounted in each MP920, enabling control of up to
64 axes. The maximum number of Modules is 16 total, including all other Motion Modules
(such as SVA Modules).
Table 7.2 List of Motion Control Functions
Item Specifications
Number of
Controlled Axes 64 max. (4 axes per Module, 16 Modules max.)
Motion
Parameters Fixed parameters MPE720 Screen setting
Setting parameters OW††00 to OW††3F (64 words/axis)
Monitoring parameters IW††00 to IW††3F (64 words/axis)
Motion
Functions POSING Positioning
ZRET Zero point return
INTERPOLATE Interpolation
FEED Fixed speed feed
STEP Fixed length feed
Reference Units pulse Can be selected.
mm Can be selected.
deg Can be selected.
inch Can be selected.
Additional
Functions Infinite length axis selection Can be selected.
Override function Can be selected.
Software limit function Can be selected.
Acceleration/deceleration
type Linear (with or without bias)
Exponential (with or without a bias setting)
Simple S-curve
Driver Pulse train output type:
CW/CCW or sign (CCW) + pulse (CW)