6 program current position update (pld) – Yaskawa MP900 Series Motion Programming Manual User Manual
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2.2 Control Commands
2 -35
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Programming Examples
The following illustration shows a programming example for the MVM command.
MVM MVS [axis1] 50 [axis2] 150 F1000;
Workpiece
coordinate system
Machine coordinate
system
MVS [axis1] 50 [axis2] 50 F1000;
250
150
axis 2
axis 2
100
150
(0, 0)
100
50
axis 1
axis 1
Figure 2.27 Programming Example for MOVE ON MACHINE COORDINATES (MVM)
2.2.6 PROGRAM CURRENT POSITION UPDATE (PLD)
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Overview
If an axis movement is executed outside a motion program while the motion program is running
(such as when an axis is moved by JOG, STEP, or a user function), the program current position
will not be updated. If the motion program were to continue to be executed in this status, the axis
would need to be moved the designated travel distance to the desired position by manual inter-
vention. To solve this problem, PROGRAM CURRENT POSITION UPDATE (PLD) is used to
update the current position.
This command is not supported in block operations. (Execution will not be stopped for it in block
operation mode.)
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Description
The PLD command is designated as follows:
PLD [axis1] [axis2] ⋅⋅⋅ [axis] ;
[axis1]⋅⋅⋅[axis2]:
Only the specified axes will be updated.
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EXAMPLE
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