YASKAWA SVC User Manual page 348

• When changing the target position based on the current position when a POSING command
is being executed
• When changing to a POSING command when a non-POSING command is being executed
In the following cases, use setting method 2 to set the target position.
• When changing the target position based on the original target position when a POSING
command is being executed
 Setting Method 1
 Using the Incremental Value Addition Method (When Bit 5 in OW09 Is Set to 0)
Issue the reference only when distribution has been completed (i.e., when bit 0 in IW
1).
Important
Incremental value = Target position (a value between 0 and POSMAX) - IL
POSMAX × n
 
OL 1C = OL 1C + Incremental value
n is the number of POSMAX turns needed to move from the current position (CPOS) to the tar-
get position. When the distance between the target position and the current position is within
the first turn, n is 0.
 Using the Absolute Value Specification Method (When Bit 5 in OW
1)
In this case, the reference can be issued even when distribution has not been completed (i.e.,

even when bit 0 in IW
Incremental value = Target position (a value between 0 and POSMAX) - IL
POSMAX × n
 
OL 1C = IL 14 (DPOS) + Incremental value
n is the number of POSMAX turns needed to move from the current position (CPOS) to the tar-
get position. When the distance between the target position and the current position is within
the first turn, n is 0.
Example When n = 2
POSMAX
IL 10 (CPOS)
IL 12 (MPOS)
IL 16 (APOS)
IL 18 (LPOS)
0
2 31 -1
IL 0E (TPOS)
0
IL 14 (DPOS)
-2 31
0C is 0).
Current position
(0 to POSMAX)
5.1 Motion Parameters
5.1.4 Position References


10 (CPOS) +

09 Is Set to

10 (CPOS) +
Target position
(0 to POSMAX)
0C is
5
5-7