Yaskawa MP930 User Manual

Page 16

MP930

1.1.2 Features of the MP930

1 -4

MC Unit

I/O Unit

MECHATROLINK-compatible

Servopacks

Up to 14 stations

Wide Range of Motion Commands

Commands such as those shown in the following table can be used.

Complete Range of Move
Commands

POSITIONING, LINEAR INTERPOLATION, CIRCULAR INTER-
POLATION, HELICAL INTERPOLATION, HOME RETURN,
SKIP, SET TIME POSITIONING, and EXTERNAL POSITIONING

Immediately Effective
Acceleration/Deceleration
Commands

ACCELERATION/DECELERATION TIME, S-CURVE TIME
CONSTANT, FEED SPEED SETTING, INTERPOLATION FEED
ACCELERATION/DECELERATION TIME SETTING, MAXI-
MUM INTERPOLATION FEED SPEED SETTING, and so on

Many Control Commands I/O WAIT, IF statement, WHILE statement, Parallel Execution com-

mands, Select Execution commands, and so on

Wide Range of Math and
Logic Commands

Integer arithmetic commands: ADD, SUBTRACT, MULTIPLICA-
TION, DIVISION

Floating-point commands: Addition, Subtraction, Multiply, Divide

Logic operations, SET BIT, RESET BIT

BCD-TO-BINARY, BINARY-TO-BCD

Trigonometric functions, inverse trigonometric functions, SQUARE
ROOT, and so on