Yaskawa MP900 Series Motion Programming Manual Manual de usuario descargar pdf (Pagina 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 2 ... 20 21 22 23 24 25 26 27 28 29 30 ... 53 54

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Yaskawa MP900 Series Motion Programming Manual Manual de usuario Pagina 25

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