Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 343)

Appendices
C.3 Motion Programming Commands
A-22
C.3 Motion Programming Commands
C.4 Group Definitions
Item MP900 Series MP2000 Series Remarks
ACC, DCC
• Executable with
SVA-01, SVA-02,
and SVB-01 Mod-
ules.
• Unexecutable with
PO-01 Module.
Executable −
SCC
• Executable with
SVB-01.
• Unexecutable with
SVA-01, SVA-02,
and PO-01.
Executable −
Speed unit for VEL
command 10
n
reference units/
min.
Can be selected from:
• 10 n reference units/min.
• Reference units/s
• 0.01%
• 0.0001%
• Depends on the difference in functions
between MP900 series Motion Modules and
MP2000 series Motion Modules.
• See 8.1.6 Set Velocity (VEL).
Speed unit for VEL
command when the
reference unit is set to
pulse
(10
n reference units/
min.)
MP920 PO-01 Module:
100 pulses/min.
Motion modules other
than MP920 PO-01:
1000 pulses/min.
1000 pulses/min.
• Depends on the difference in functions
between MP900 series Motion Modules and
MP2000 series Motion Modules.
• See 8.1.6 Set Velocity (VEL).
Acceleration/Deceler-
ation rate designation
method for ACC and
DCC commands
MP930 SVB module:
Acceleration/decelera-
tion time (ms) calcu-
lated on the base of the
feed speed
Modules other than
MP930 SVB Module:
Acceleration/decelera-
tion time (ms) calcu-
lated on the base of the
rated speed
Can be selected from
followings:
• Acceleration/decelera-
tion time (ms) calcu-
lated on the base of the
rated speed
• Acceleration/decelera-
tion rate
(reference unit/s
2 )
• Depends on the difference in functions
between MP900 series Motion Modules and
MP2000 series Motion Modules.
• See 8.1.3 Acceleration Time Change (ACC)
and 8.1.4 Deceleration Time Change
(DCC).
Unit of moving amount
specified for external
positioning command
EXM
In unit of pulse In reference unit
Depends on the difference in functions
between MP900 series Motion Modules and
MP2000 series Motion Modules.
Item MP900 Series MP2000 Series Remarks
Group definition
saving operation while
online
Prohibited Permitted −
Automatic generation
of ladder program
Possible
(Can be specified in the
Group Definition dia-
log box.)
Not possible −