Yaskawa MP900 Series Motion Programming Manual Bedienungsanleitung PDF herunterladen (Seite 21)

1.1 Motion Programming

1-7

Item Specification

Coordinate System

Rectangular coordinates

Zero Point Return

Eight types

1. DEC1 + Phase C 5.DEC1 + ZERO

2. DEC2 + Phase C 6.DEC2 + ZERO

3. DEC1 + LMT 7.DEC1 + LMT + ZERO

4. Phase C 8.ZERO

Programs Language

Special motion language, ladder language

Number of

Tasks

Up to eight programs can be executed in parallel.

Number of

Programs

Up to 256

Program

Capacity

80 Kbytes

Applicable Servopack

S Analog

SGDA-j/SGDB-jjj/SGDM-jj

S Network

SGD-jN/SGDB-jN

Encoder

Incremental or absolute

Command Words

Axis Move Commands: 8 commands

MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM

Basic Control Commands: 6 commands

ABS, INC, POS, PLN, MVM, PLD

Speed and Acceleration/Deceleration Commands: 8 commands

ACC, 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: 36 commands

=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,

ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,

TON, TOF, SFR, SFL, PON, NON, BLK, CLR

1 2 ... 16 17 18 19 20 21 22 23 24 25 26 ... 53 54

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