Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 27)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline
1-18
! Designation of “Absolute Mode” in a Rotary Axis
When an absolute value command (designation mode in a range of 0~359.999º) is
used in a rotary axis, the commanded +/- sign shows the rotation direction, and the
command value signifies the absolute position.
Example
When designating a position 180º from the current position:
Supplement
When moving to the 0º position by designating the absolute mode in a rotary axis, -0.0
cannot be designated in a counter-clockwise motion. In this case, designate -360.0.
! Number and Variable Tabulation Method
Numbers used in motion programs are of two types: parameters and variables. The
setting method for these numbers is given below.
a. Parameters
Tabulation of Numbers that Can be Designated
Type Range Notation Example
Decimal Integers -2147483648~2147483647 0, 734, +823, -2493
Decimal Fractions -2147483.648~2147483.647
Changes according to number
of decimal places 763., +824.2, -234.56
-321.12345
Hexadecimal Integers 0~FFFFFFFFH FFFABCDEH, 2345H, FH
Real Numbers
Example of Designating the Rotary Axis Absolute Mode
180º
90º 270º
0º
ZRN [X1]0;
INC MOV [X1]180.0;
ABS MOV [X1]270.0; moves 90º clockwise
Example of Designating the Rotary Axis Absolute Mode
180º
90º 270º
0º
ZRN [X1]0;
INC MOV [X1]180.0;
ABS MOV [X1]-270.0; moves 270º counter-clockwise