Yaskawa MP900 Series Motion Programming Manual - Manual (Page 22)

Overview of Motion Programs
1.1.2 Function Performance
1 -8
J MP930 Motion Control Function Specifications
Table 1.3 lists the motion control function specifications for the MP930.
Table 1.3 MP930 Motion Control Function Specifications
Item Specification
Number of Controlled Axes 1 to 14 axes
Control
S
ifi ti
PTP Control Linear, rotary, and infinite-length axes
Specifications Interpolation
Up to 14 axes for linear interpolation, 2 axes for circular inter-
polation, and 3 axes for helical interpolation
Speed Control None
Torque Limit
Yes (According to parameter setting only)
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)
Speed Reference Unit
mm/min, inch/min, deg/min, pulse/min
Acceleration/Deceleration Type Linear, asymmetric, S-curve
Asymmetric acceleration/deceleration is not possible with
POSITIONING (MOV).
Override Function Positioning: 0.00% to 327.67% per axis
Interpolation: 0.00% to 327.67% per group
Coordinate System Rectangular coordinates
Zero Point Return Four types
Dog + Phase C, zero point limit switch, dog + home position
limit switch, Phase C
Zero point setting function provided.
Programs Language Special motion language
Number of
Tasks Up to four programs can be executed in parallel.
Number of
Programs Up to 256
Program
Capacity Equivalent to 80 K bytes (characters)
(Can be increased or decreased according to the size of ladder
logic program used, to up to a maximum of 100 KB.)
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