YASKAWA MP210 Series User Manual page 37

Item
Instructions
(2) Motion Control Function Specifications
The following table shows the motion control function specifications for the MP2100/MP2100M.
Item
Interface
Number of Controlled Axes/Module
PTP Control
Interpolation
Speed Reference Output
Torque Reference Output
Phase Control
Control
Positioning
Specifi-
External positioning
cations
Zero point return
Interpolation
Interpolation with po-
Position
sition detection func-
Control
tion
JOG operation
STEP operation
Parameter changes
during motion com-
mand execution
Reference Unit
Reference Unit Minimum Setting
Maximum Programmable Value
Speed Reference Unit
Acceleration/Deceleration Type
Acceleration/Deceleration Reference Unit
Override Function
Coordinate System
Program control instructions:
Direct I/O instructions:
Relay circuit instructions:
Logic operation instructions:
Numeric operation instructions:
Numeric conversion instructions:
Numeric comparison instructions:
Data manipulation instructions:
Basic function instructions:
Table data manipulation instructions: 11 instructions
DDC instructions:
System functions:
MECHATROLINK-I, MECHATROLINK-II
MP2100:
MP2100M: Up to 32 axes
Linear, rotary, and infinite-length
MP2100:
MP2100M: Up to 16 linear axes, 2 circular axes, and 3 helical axes
(Only when using MECHATROLINK-II (32-byte mode))
mm, inch, deg, pulse, or μm
1, 0.1, 0.01, 0.001, 0.0001, 0.00001
−2147483648 to +2147483647 (signed 32-bit value)
Reference unit/s: mm/s, inch/s, deg/s, pulse/s, μm/s
Reference unit/min.: mm/min, inch/ min, deg/min, pulse/min, μm/min
Percentage: Percentage of rated speed
Linear, asymmetric, S-curve, exponent
Reference unit/s
Acceleration/deceleration time constant: Time from 0 to rated speed (ms)
Positioning: 0.01% to 327.67% by axis
Rectangular coordinates
Specifications
14 instructions
2 instructions
14 instructions (including set and reset coils)
3 instructions
16 instructions
9 instructions
7 instructions
14 instructions
10 instructions
13 instructions
9 instructions
Specifications
Up to 16 axes
Up to 16 linear axes, 2 circular axes, and 3 helical axes
Yes
(Only when using MECHATROLINK-II)
Yes
(Only when using MECHATROLINK-II)
Yes
(Only when using MECHATROLINK-II)
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
2 2 2 2
: mm/s , inch/s , deg/s , pulse/s
2.1 Specifications
2 2
, μm/s
2-5
2