Yaskawa MotionSuite Series Machine Controller Programming Instrukcja Użytkownika Pobierz pdf (Strona 14)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1-5

1.1.3 Function Performance List

The MP9xx motion program function specifications are as follows:

MP9xx Motion Control Function Specifications

Item Specifications

Number of Control Axes 1~14 maximum

Control

Specs

Position Control Linear, rotational, unlimited, independent axis

Interpolation Linear: 14 axes, Circular: 2 axes, Helical: 3 axes

Speed Control None

Torque Limit Limited (torque limit set by parameters only)

Command Unit mm, inch, deg, pulse

Minimum Command Setting Unit 1, 0.1, 0.01, 0.001, 0.0001, 0.00001

Maximum Command Value -2147483648~+2147483647 (with 32-bit symbols)

Speed Command Unit mm/min, inch/min, deg/min, pulse/min

Accel/Decel Type Linear, S-curve, separate accel/decel

Override Functions Positioning: 0.01~100.00% of axis unit

Interpolation: 0.01~100.00% of group unit

Coordinates Cartesian Coordinates

Zero-Point Return 4 Types:

Torque+C-phase, zero-point LS, torque+zero-point LS, C-phase

There is a zero-point setting function

Programs

Language Dedicated motion language

Number of Tasks A maximum of four programs can be simultaneously executed in parallel.

Number of Programs 256 maximum

Program Volume 80 Kbytes (characters)

(Adjustable by the volume of ladder program used: 100 Kbyte maximum)

Applied Servo Amplifier SGD-"""N/SGDB-""AN

Encoder Incremental/Absolute

Command Language Axis Motion Commands : 8 types

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

Basic Control Commands : 5 types

ABS, INC, POS, PLN, MVM

Speed/Accel/Decel Commands : 7 types

ACC, SCC, VEL, IAC, IDC, IFP, FMX

Advanced Control Commands : 4 types

PFN, INP, SNG, UFC

Control Commands : 9 types

MSEE, TIM, IOW, END, RET, IF ELSE IEND, WHILE WEND,

PFORK JOINTO PJOINT, SFORK JOINTO SJOINT

Operation/Sequence Control Commands : 36 types

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

ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=, TON, TOF, SFR, SFL,

PON, NON, BLK, CLR

1 2 ... 9 10 11 12 13 14 15 16 17 18 19 ... 186 187

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