Yaskawa MP900 Series Motion Programming Manual - Manual (Page 23)

1.1 Motion Programming
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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: 8 commands
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, EQX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO PJOINT, SFORK JOIN-
TO SJOINT
Math and Sequence Control Commands: 32 commands
=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,
SFR, SFL, BLK, CLR
J
MP940 Motion Control Function Specifications
Table 1.4 lists the motion control function specifications for the MP940.
Table 1.4 MP940 Motion Control Function Specifications
Item Specification
Number of Controlled Axes 1 axis
Control
S
ifi ti
PTP Control Linear, rotary, and infinite-length axes
Specifications Interpolation
Linear
Speed
Reference
Output Yes
Torque
Reference
Output Yes
Position
Control Positioning, external positioning, zero point return, interpola-
tion, interpolation with position detection function, fixed speed
feed, fixed length feed
Phase Control Yes
1