Yaskawa MP940 - Manual (Page 28)

2.3 Function Lists
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2.3 Function Lists
2.3.1 MP940 Motion Control Function Specifications
The following table lists the motion control function specifications for the MP940.
Table 2.3 MP940 Motion Control Function Specifications
Item Specification
Number of Controlled Axes 1 axis
Control Specifications PTP Control Linear, rotary, and infinite-length
Interpolation Linear
Speed Reference
Output Yes
Torque Reference
Output Yes
Position Control Positioning, external positioning, zero point return, interpo-
lation, interpolation with position detection function, fixed
speed feed, fixed length feed
Phase Control Yes
Position Control Reference Unit mm, inch, deg, pulse
Reference Unit
Minimum Setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum Pro-
grammable Value -2147483648 to +2147483647 (signed 32-bit value)
Speed Reference
Unit mm/min, inch/min, deg/min, pulse/min
Acceleration/Decel-
eration Type Linear, asymmetric, S-curve
Override Function 0% to 327.67% (in increments of 0.01%)
Coordinate System Rectangular coordinates
Zero Point Return Eight types
• DEC1 + Phase C
• DEC2 + Phase C
• DEC1 + LMT
• Phase C • DEC1 + ZERO
• DEC2 + ZERO
• DEC1 + LMT + ZERO
• ZERO
Programs Language Special motion language
Number of Tasks Up to eight programs can be executed in parallel.
Number of Pro-
grams Up to 32
Program Capacity 80 Kbytes
Applicable SERVOPACK Analog: SGDH-††AE
Encoder Incremental or absolute
Speed Control Speed Reference -327.68 to +327.67 %/Rated speed
With torque limit function
Acceleration/Decel-
eration Type Linear, asymmetric, S-curve (moving average)