Yaskawa MP940 - Manual (Page 440)

Motion Control
11.3.1 Prerequisites for Position Control
11-38
Using the Position Buffers as Position References
1. Set bit 12 of the RUN Command Settings (OWC001) to ON.
2. Set a position buffer number 1 to 256 in place of the position reference in the Position
Reference Setting (OLC012).
In this way, the data for the position buffer number specified in OLC012 functions as the
position reference.
„ Position Monitoring
The following table shows the parameters used to monitor positioning.
Table 11.12 Position Monitor Parameters
1 Machine Coordinate System
The basic coordinate system that is set according to the zero point return mode execution, the Zero Point Return (ZRET)
motion command execution, or the Zero Point Setting (ZSET) motion command operation. The SVA Module manages
the positions using this machine coordinate system.
Motion Monitor
Parameter No.
(Register No.)
Name Description
ILC002 Calculated Position in
the Machine
Coordinate System
1
(CPOS)
The calculated position of the machine coordi-
nate system managed by the SVA Module is
reported. Normally, the position data reported
in this parameter will be the target position for
each scan.*1
ILC008 Machine Coordinate
System Feedback
Position (APOS) The feedback position of the machine coordi-
nate system is reported.*2
ILC018 Machine Coordinate
System Reference
Position (MPOS) The position output externally by the SVA
Module and the reference position of the
machine coordinate system are reported.
In machine lock status, this data is not
refreshed. (With the machine lock status, the
data is not output externally.)
When the machine lock function is not used,
this position is the same as that in ILC002.
ILC02E Calculated Reference
Coordinate System
Position (POS) This position is significant when the axis
selected is an infinite length axis.
With an infinite length axis, the target position
for each scan corresponding to the position ref-
erence in this parameter is reported.*3
OLC012
12345
1
OBC001C
OWC001
Position buff-
ers
Position buffer number
This value will be
the position ref-
erence.