Yaskawa MP900 Series Motion Programming Manual - Manual (Page 83)

Motion Commands
2.2.2 INCREMENTAL MODE (INC)
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2.2.2 INCREMENTAL MODE (INC)
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Overview
The INCREMENTAL MODE (INC) command causes the coordinate words that control axis
movement to be treated as incremental values from the current position in the workpiece coordi-
nate system.
Once INC mode has been designated, it remains in effect until ABSOLUTE MODE (INC) is next
designated. ABS mode is the default mode when the power is turned ON.
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Description
The method of designating INC mode is as follows:
INC;
or
INC MOV [axis1] −;
Reference position
Current position
(axis 1)
(axis 2)
axis 2
(0, 0)
axis 1
Figure 2.23 Incremental Values in the Workpiece Coordinate System
J Programming Examples
The following illustration shows a programming example in INC mode.
INC MOV [axis1] 100 [axis2] 200;
MOV [axis1] 50 [axis2] 100;
MOV [axis1] 100;
MOV [axis2] 50;
Where
Starting position: axis 1 = axis 2 = 0
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A EXAMPLE "