Yaskawa MP900 Series Motion Programming Manual - Manual (Page 20)

Overview of Motion Programs
1.1.2 Function Performance
1 -6
Item Specification
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: 36 commands
=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,
TON, TOF, SFR, SFL, PON, NON, BLK, CLR
J MP920 Motion Control Function Specifications
Table 1.2 lists the motion control function specifications for the MP920.
Table 1.2 MP920 Motion Control Function Specifications
Item Specification
Number of Controlled Axes 1 to 60 axes (when SVA-01 Module is used.)
Control
S
ifi ti
PTP Control Linear, rotary, and infinite-length axes
Specifications Interpolation
Up to 16 axes for linear interpolation, 2 axis for circular inter-
polation, 3 axis for helical interpolation
Speed
Reference
Output Available with SVA-01 and SVA02 Modules.
Torque
Reference
Output Available with SVA02 Module.
Position
Control Positioning, external positioning, zero point return, interpola-
tion, interpolation with position detection function, fixed speed
feed, fixed length feed
Phase Control Available with SVA-01 and SVA02 Modules.
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, pulse/min
Acceleration/Deceleration Type Linear, asymmetric, S-curve
Override Function
Positioning: 0.01% to 327.67% by axis
Interpolation: 0.01% to 327.67% by group
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