Yaskawa MP900 Series Motion Programming Manual - Manual (Page 25)

1.1 Motion Programming
1 -11
Item Specification
Command Words 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 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, EOX, 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
MP2100 Motion Control Function Specifications
Table 1.5 lists the motion control function specifications for the MP2100.
Table 1.5 MP2100 Motion Control Function Specifications
Item Specification
Number of Controlled Axes 1 to 16 axes
Control
S
ifi ti
PTP Control Linear, rotary, and infinite-length axes
Specifications Interpolation
Up to 16 axes for linear interpolation, to 2 axes for circular
interpolation, to 3 axes for helical interpolation
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
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/sec, inch/sec, deg/sec, pulse/sec, pulse/sec, mm/min, inch/
min, deg/min, pulse/min, %
Acceleration/Deceleration Type Linear, asymmetric, S-curve
Override Function
Positioning: 0.01 to 327.67% per axis
Interpolation: 0.01 to 327.67% per MSEE command
1