Yaskawa MP940 - Manual (Page 29)

Specifications and Functions
2.3.2 PLC Function Specifications
2-6
2.3.2 PLC Function Specifications
The following table lists the PLC function specifications.
Table 2.4 PLC Function Specifications
Torque Control Torque Reference -327.68 to +327.67 %/Rated torque
With speed limit function
Phase Control Speed Reference
Unit -327.68 to +327.67 %/Rated speed
Speed Compensa-
tion -327.68 to +327.67 %/Rated speed
Position Compen-
sation -2147483648 to +2147483647 pulses
Commands Axis Move Commands: 5 commands
MOV, MVS, ZRN, SKP, EXM
Basic Control Commands: 5 commands
ABS, INC, POS, MVM, PLD
Speed and Acceleration/Deceleration Commands: 8 com-
mands
ACC, DCC, 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, SFORK JOINTO
SJOINT
Math and Sequence Control Commands: 32 commands
=, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,
SFR, SFL, BLK, CLR
Item Specification
Item Specifications
Program Capacity Equivalent to 2 Ksteps (varies according to amount of motion program used; 40 Ksteps
max.)
Control Method Sequence: scan methods
Programming Lan-
guage CP language
Ladder logic diagram: Relay circuit
Text-type language: Numeric operations, logic operations, etc.
Scanning Time slicing within servo-control scan (S scan) period.
Servo-control scan time setting: 0.5 / 1.0 / 2.0 / 4.0 ms
High-speed scan time
setting:
Low-speed scan time
setting: 0.5 to 32.0 ms (0.01-ms units); S-scan integer multiple
2.0 to 100 ms (0.01-ms units); S-scan integer multiple