Yaskawa MP900 Series Motion Programming Manual - Manual (Page 85)

Motion Commands
2.2.3 CURRENT POSITION SET (POS)
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J Description
The POS command is designated as follows:
POS [axis1] − [axis2] − ⋅⋅⋅ ;
Desired coordinate value
(axis 1)
axis 1
axis 1
(axis 2)
axis 2
axis 2
(0, 0)
Y
(0, 0)
Current position
Workpiece
coordinate system
Figure 2.25 POS Command (Workpiece Coordinate Change)
D The workpiece coordinate system can be changed as often as desired using the POS com-
mand. The machine coordinate system must be set in advance. The machine coordinate sys-
tem is not affected by the POS command.
D Up to 14 axes* can be designated simultaneously with the POS command. The current value
of any axis for which this command is omitted cannot be re-written.
D Move commands in a workpiece coordinate system cannot exceed the maximum program-
mable values when converted to coordinates in the machine coordinate system
* Number of axes with simultaneous control for the MP930.
The number of simultaneously controlled axes differs depending on the model of the Ma-
chine Controller. Refer to 1.1.2 Function Performance for details.
Table 2.1 shows the setting status of the machine coordinate system and the workpiece coordi-
nate system.
Table 2.1 Current Position Set (POS)
Controller Status Incremental Position
Detecting System
Absolute Position Detecting
System
After power ON Machine coordinate system: De-
fault setting (*1)
Workpiece coordinate system:
Cancelled (*3) Machine coordinate system:
Yes (*2)
Workpiece coordinate system:
Cancelled
After ZERO POINT
RETURN (ZRN) Machine coordinate system: Set
Workpiece coordinate system:
Cancelled Workpiece coordinate system:
Cancelled
After CURRENT
POSITION SET (POS) Workpiece coordinate system:
Set Workpiece coordinate system:
Set
After ZERO POINT
POSITION Workpiece coordinate system:
Cancelled Machine coordinate system: Set
Workpiece coordinate system:
Cancelled
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