YASKAWA MP2300 - Page 33

2.1
MP2300 Basic Module Specifications
2-5
2
Module Specifications
( 2 ) Motion Control Function Specifications
The following table lists the motion control function specifications for the MP2300.
Item Specifications
Interface
MECHATROLINK-I, MECHATROLINK-II
Number of Controlled Axes/Module
Up to 16 axes (up to 48 axes when two SVB Modules are mounted)
Control
Specificat
ions
PTP Control
Linear, rotary, and infinite-length
Interpolation
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
position detection
function
Yes
JOG operation Yes
STEP operation Yes
Parameter changes
during motion
command execution
Yes
(Only with MECHATROLINK-II in 32-byte mode)
Reference Unit
mm, inch, deg, pulse, or
μ
m
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 designation: mm/s, inch/s, deg/s, pulse/s,
μ
m/s
Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min,
μ
m/min
Percentage designation: Percentage of rated speed
Acceleration/Deceleration Type
Linear, asymmetric, S-curve, exponent
Acceleration/Deceleration Reference Unit
Reference unit/s
2
designation: mm/s
2
, inch/s
2
, deg/s
2
, pulse/s
2
,
μ
m/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
Zero Point Return
DEC1+ Phase-C pulse
Home limit switch and Phase-C
pulse
ZERO signal HOME
DEC1+ ZERO signal NOT and Phase-C pulse
Phase-C pulse NOT
Only Phase-C pulse INPUT and Phase-C pulse
POT and Phase-C pulse INPUT
POT
Applicable SERVOPACKs
■
MECHATROLINK-
Ι
• SERVOPACKs
SGD-

N
SGDB-

AN
SGDH-

E
＋
NS100
SGDS-

1

SGDV-

11
SGDV-

15
■
MECHATROLINK-II
• SERVOPACKs
SGDH-

E
＋
NS115
SGDS-

1

SGDV-

11
SGDV-

15
Encoders
• Incremental Encoder
• Yaskawa Absolute Encoder