YASKAWA MP2000 Series User Manual page 130

( 2 )
Setting the Target Position When Using an Infinite Length Axis: Method 2
Changing the target position while a POSING command is being executed
by specifying another target position on the base of the original target position
• When the absolute mode has been set for the Reference Position Setting (OW09, bit 5 = 1), the absolute
mode must also be set after having changed the target position.

Incremental Addition Mode (OW09, bit 5 = 0)
Incremental value = New target position (a value between 0 and POSMAX) − Original target position before
OL1C = OL1C + Incremental value
 Original target position before change: The value that was directly designated or the value that was stored in M
register, etc.
 n refers to the number of POSMAX complete 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.

Absolute Mode (OW09, bit 5 = 1)
Incremental value = New target position (a value between 0 and POSMAX) − Original target position before
OL1C = OL1C + Incremental value
 Original target position before change: The value that was directly designated or the value that was stored in M
register, etc.
 n refers to the number of POSMAX complete 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
change (a value between 0 and POSMAX) + POSMAX × n
change (a value between 0 and POSMAX) + POSMAX × n
New target position
(0 to POSMAX)
6.1 Example Setting of Motion Parameters for the Machine
Original target position
(0 to POSMAX)
6.1.4 Position Reference
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