Yaskawa MP900 Series Motion Programming Manual Manual do Utilizador descarregar pdf (Página 26)

Overview of Motion Programs

1.1.2 Function Performance

1 -12

Item Specification

Coordinate System

Rectangular coordinates

Zero Point Return

Thirteen types

• DEC1 + Phase C

• Phase C

• DEC1 + ZERO

• ZERO

• C Pulse

• POT + C Pulse

• POT

• HOME LS + C Pulse

• HOME LS

• NOT + C Pulse

• NOT

• Input + C Pulse

• Input

Programs Language

Special motion language, ladder language

Number of

Tasks

Up to 16 axes can be executed in parallel.

Number of

Programs

Up to 256

Program

Capacity

1200 Kbytes

Command Words

Axis Move Commands: 12 commands

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

VCR, TCS, TCR

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, SNGD, SNGE, UFC

Control Commands: 11 commands

MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND,

WHILE WEND, PFORK JOINTO, PJOINT, SFORK,

JOINTO, SJOINT

Math and Sequence Control Commands: 32 commands

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

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

SFR, SFL, BLK, CLR

1 2 ... 21 22 23 24 25 26 27 28 29 30 31 ... 53 54

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