Yaskawa MP920 User's Manual Design - Manual (Page 150)

4 Motion Control
4.3.1 Prerequisites for Position Control
4-36
2. Reading Position Buffers
a) Set the Position Buffer Access Number (OL††38)(1 to 256).
b) Set the Position Buffer Read (OB††21F) in the Motion Command Control Flags to
ON. After two scans, the position data specified in Position Buffer Read Data
(IL††28) will be stored.
1. Position buffers can be used only when motion commands are used in the position control mode.
2. The position data specified in the position buffers are absolute position references.
The data in the position buffers is deleted by turning OFF the power and resetting the CPU Module
Master. Be sure to set the data when the power is turned ON, or before using the position buffers.
Using the Position Buffers as Position References
1. Set bit 12 of the RUN Command Settings (OW††01) to ON.
2. Set a position buffer number 1 to 256 in place of the position reference in the Position
Reference Setting (OL††12).
In this way, the data for the position buffer number specified in OL††12 functions as the
position reference.
256
CPU Module
93
543210
OW 21
OL 38
IL 28
1
2
3
1
2
3
256
1
2
3
256
1
2
3
256
93 543210
.
.
.
SVA Module
Axis 2
Axis 3
Axis 4
Axis 1 position buffers
INFO
IMPORTANT
1
This value will be
the position
reference.
OL 12
12345
OB 01C
OW 01
Position buffer number
Position buffers