Motion Control Function Specifications - YASKAWA MP2100 Series User Manual

Item
Instructions

4.2.2 Motion Control Function Specifications

The following table lists the motion control function specifications for the MP2100/MP2100M.
Item
Interface
Number of Controlled Axes/Module
Control PTP Control
Specifi-
Interpolation
cations
Speed Reference Output
Torque Reference Output
Phase Control
Position
Control
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: Up to 16 axes
MP2100M: Up to 32 axes
Linear, rotary, and infinite-length
MP2100: Up to 16 linear axes, 2 circular axes, and 3 helical axes
MP2100M: Up to 16 linear axes, 2 circular axes, and 3 helical axes
Positioning
External positioning
Zero point return
Interpolation
Interpolation with po-
sition detection func-
tion
JOG operation
STEP operation
Parameter changes
during motion com-
mand execution
mm, inch, deg, or pulse
1, 0.1, 0.01, 0.001, 0.0001, 0.00001
−2147483648 to +2147483647 (signed 32-bit value)
Reference unit/s specification: mm/s, inch/s, deg/s, pulse/s
Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min
Percentage designation: 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
Yes
(Only with MECHATROLINK-II)
Yes
(Only with MECHATROLINK-II)
Yes
(Only with MECHATROLINK-II)
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
(Only with MECHATROLINK-II in 32-byte mode)
2 2
specification: mm/s , inch/s
4.2 Function Lists
(cont'd)
2 2 2
, deg/s , pulse/s
4
4-5