Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 342)

App
C Differences between MP900 Series and MP2000 Series Machine Controllers
A-21
C Differences between MP900 Series and MP2000 Series
Machine Controllers
This section describes motion program differences between the MP900 series and the MP2000 series Machine
Controllers.
C.1 Motion Programs
C.2 Sequence Programs
Item MP900 Series MP2000 Series Remarks
Number of tasks No limitation 16 tasks
Number of simultaneously execut-
able programs
Group definition
Max. number of axes per group
MP910: 28 axes
MP920: 48 axes
MP930: 14 axes
MP940: 1 axis
16 axes −
Work size of MSEE command
in ladder programs
2 words 4 words See 4.3.3 Work Registers.
Interpolation override Always enabled
Enabled or disabled can be
selected.
See 4.3.3 Work Registers.
Register for interpolation over-
ride value designation
Designated in the
Group Definition
dialog box. Designated using the 3rd
word of an MSEE work
register.
See 4.3.3 Work Registers.
Program execution registration
function
(
M-EXECUTOR Module)
Not supported Supported
Can not be used with MP2300,
CPU-01 or CPU-02.
Nesting of PFORK command
(PFORK execution during
parallel processing)
Permitted Prohibited −
Axis move command in the
two parallel subprograms
Prohibited Permitted −
Subprogram call (MSEE) from
the two parallel subprogram
Permitted Prohibited −
Numbers below decimal point
when real number data is
stored in an integer register
Rounded-off
Cut-down (Truncate) or
rounded-off (Rounding) The default for the MP2000 series is
cut-down.
Item MP900 Series MP2000 Series Remarks
Applicable/Not applicable Not applicable Applicable
Can not be used with MP2300,
CPU-01 or CPU-02.