YASKAWA MP2100 Series User Manual

4.2 Function Lists
4-5
4
4.2.2 Motion Control Function Specifications
The following table
lists the motion control function specifications for the MP2100/MP2100M.
Instructions Program control instructions: 14 instructions
Direct I/O instructions: 2 instructions
Relay circuit instructions: 14 instructions (including set and reset coils)
Logic operation instructions: 3 instructions
Numeric operation instructions: 16 instructions
Numeric conversion instructions: 9 instructions
Numeric comparison instructions: 7 instructions
Data manipulation instructions: 14 instructions
Basic function instructions: 10 instructions
Table data manipulation instructions: 11 instructions
DDC instructions: 13 instructions
System functions: 9 instructions
(cont’d)
Item Specifications
Item Specifications
Interface MECHATROLINK-I, MECHATROLINK-II
Number of Controlled Axes/Module MP2100: Up to 16 axes
MP2100M: Up to 32 axes
Control
Specifi-
cations
PTP Control Linear, rotary, and infinite-length
Interpolation 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
Speed Reference Output
Yes
(Only with
MECHATROLINK-
II)
Torque Reference Output
Yes
(Only with
MECHATROLINK-
II)
Phase Control
Yes
(Only with
MECHATROLINK-
II)
Position
Control
Positioning
Yes
External positioning
Yes
Zero point return
Yes
Interpolation
Yes
Interpolation with po-
sition detection func-
tion
Yes
JOG operation
Yes
STEP operation
Yes
Parameter changes
during motion com-
mand execution
Yes
(Only with MECHATROLINK-II in 32-byte mode)
Reference Unit
mm
,
inch
,
deg
, or
pulse
Reference Unit Minimum Setting
1
,
0.1
,
0.01
,
0.001
,
0.0001
,
0.00001
Maximum Programmable Value
−
2147483648 to +2147483647 (signed 32-bit value)
Speed Reference Unit 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
Acceleration/Deceleration Type Linear, asymmetric, S-curve, exponent
Acceleration/Deceleration Reference Unit
Reference unit/
s
2
specification: mm/s
2
, inch/s
2
, deg/s
2
, pulse/s
2
Acceleration/deceleration time constant:
Time from 0 to rated speed (ms)
Override Function Positioning: 0.01% to 327.67% by axis
Coordinate System Rectangular coordinates

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English