Yaskawa MP920 Motion Module - Manual (Page 53)

2.3 Position Control
2-27
2
When using a motion program, always set Position Reference Type (bit 14 of OW††01) to 1 (incre-
mental addition mode).
The default is 1 (incremental addition mode).
Table 2.9 shows the differences when motion commands (OW††20) are used, and when no
motion commands are used.
The meaning of the terms used in the above table and their method of application are
described below.
Table 2.9 Differences When Motion Commands are Used/Not Used
Item Motion Commands
(OW††20) Not
Used
Motion Commands
(OW††20) Used
Reference Unit Pulse Pulse, mm, inch, or
deg can be selected.
Electronic Gear Function Not possible Possible
Finite length position control Possible Possible
Infinite length position control that rotates
the axis in one direction only, without reset-
ting after one rotation Possible Possible
Infinite length position control that resets
the axis after one rotation Not possible Possible
Position reference Absolute position
mode Absolute position
mode or incremental
addition mode can be
selected.
Position buffer Not possible Possible
Position monitor Pulse unit Reference unit
Speed reference Percentage (%) refer-
ence The percentage (%)
reference or the refer-
ence unit can be
selected.
IMPORTANT