Yaskawa MP900 Series Motion Programming Manual Bedienungsanleitung PDF herunterladen (Seite 23)

1.1 Motion Programming

1-9

Item Specification

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, 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, EQX, 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 MP940 Motion Control Function Specifications

Table 1.4 lists the motion control function specifications for the MP940.

Table 1.4 MP940 Motion Control Function Specifications

Item

Specification

Number of Controlled Axes

1 axis

Control

S ifi ti

PTP Control

Linear, rotary, and infinite-length axes

Specifications

Interpolation

Linear

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

1 2 ... 18 19 20 21 22 23 24 25 26 27 28 ... 53 54

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