Yaskawa MP920 Motion Module - Manual (Page 63)

2.3 Position Control
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In this way, the data for the position buffer number specified in OL††12 functions as the
position reference.
„ Position Monitoring
Table 2.16 shows the parameters used to monitor positioning.
* 1. The machine coordinate system is the basic coordinate system that is
set according to the zero 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.
* 2. When an infinite length axis is selected, a range of 0 to (infinite length
axis reset position − 1) is reported.
With the position reference for an infinite length axis, the present
travel distance (incremental travel distance) is added to the previous
position reference (OL††12), and reset as the position reference
(OL††12).
The position reference (OL††12) must not be set in the range of 0 to
(infinite length axis reset position
− 1).
* 3. When an infinite length axis is selected, a range of 0 to (infinite length
axis reset position − 1) is reported.
* 4. With a finite length axis, this position is the same as that in IL††02.
Table 2.16 Position Monitoring Parameters
Motion Monitoring
Parameter No.
(Register No.)
Name Description
IL††02 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.
*2
IL††08 Machine Coordinate
System Feedback
Position (APOS) The feedback position of the machine coordi-
nate system is reported.
*3
IL††18 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 IL††02.
IL††2E 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.
*4