Yaskawa MP2300S Basic Module - Manual (Page 31)

2.1 Specifications
2.1.3 Function Lists
2-5
Specifications and Functions
( 2 ) Motion Control Function Specifications
The following table lists the motion control function specifications for the MP2300S.
Item Specifications
Interface MECHATROLINK-I, MECHATROLINK-II
Number of Controlled Axes/Module Up to 16 axes (up to 32 axes when an SVB Modules are mounted)
Control
Specifica-
tions
PTP Control Linear, rotary, and infinite-length
Interpolation Up to 16 linear axes, 2 circular axes, and 3 helical axes
Speed Reference Output
Yes
(Only with MECHATROLINK-II)
Torque Reference Output
Yes
(Only with MECHATROLINK-II)
Phase Control
Yes
(Only with MECHATROLINK-II)
Position
Control
Positioning Yes
External positioning Yes
Zero point return Yes
Interpolation Yes
Interpolation with posi-
tion detection function
Yes
JOG operation Yes
STEP operation Yes
Parameter changes
during motion com-
mand execution
Yes
(Only with MECHATROLINK-II in 32-byte mode)
Reference Unit mm, inch, deg, or 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
Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s
Reference unit/min. designation: mm/min., inch/ min., deg/min., pulse/min.
Percentage designation: Percentage of rated speed
Acceleration/Deceleration Type Linear, asymmetric, S-curve, exponent
Acceleration/Deceleration Reference Unit
Reference unit/s 2 designation: mm/s 2 , inch/s 2 , deg/s 2 , pulse/s 2
Acceleration/deceleration time constant: Time from 0 to rated speed (ms)
Override Function Positioning: 0.01% to 327.67% by axis
Coordinate System Rectangular coordinates
Zero
Point
Return
DEC1+ Phase-C pulse Yes
ZERO signal Yes
DEC1+ ZERO signal Yes
Phase-C pulse Yes
Only Phase-C pulse Yes
POT and Phase-C pulse Yes
POT Yes
Home limit switch and Phase-C
pulse
Yes
HOME Yes
NOT and Phase-C pulse Yes
NOT Yes
INPUT and Phase-C pulse Yes
INPUT Yes