YASKAWA MP2000 Series User Manual page 131

6.1 Example Setting of Motion Parameters for the Machine
6.1.4 Position Reference
( 3 )
Setting the Target Position When Using an Infinite Length Axis: Method 3
Changing the target position while a POSING command is being executed
by specifying another target position on the base of the current position
• When the incremental addition mode is selected for Position Reference Setting (OW09, bit 5 = 0), execute a
POSING command in distribution completed status (IW0C, bit 0 = 1).
When the absolute mode is selected for Position Reference Setting (OW09, bit 5 = 1), a POSING command can be exe-
cuted if the distribution is not completed (IW0C, bit 0 = 0).
The method is the same as for ( 1 ) Setting the Target Position When Using an Infinite Length Axis: Method 1.
( 4 )
Setting the Target Position When Using an Infinite Length Axis: Method 4
Switching a command that is being executed to a POSING command
• When the incremental addition mode is selected for Position Reference Setting (OW09, bit 5 = 0), execute a
POSING command in distribution completed status (IW0C, bit 0 = 1).
When the absolute mode is selected for Position Reference Setting (OW09, bit 5 = 1), a POSING command can be exe-
cuted if the distribution is not completed (IW0C, bit 0 = 0).
The method is the same as for ( 1 ) Setting the Target Position When Using an Infinite Length Axis: Method 1.
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