Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 114)

8.1 Axis Setting Commands
8-7
8
Command Reference
8.1.2 Incremental Mode (INC)
(1) Overview
The Incremental Mode (INC) command causes the coordinate words that control axis movement to be treated as a relative
movement amount.
Once INC mode has been executed, it remains in effect until the next time the Absolute Mode (ABS) is executed.
ABS mode is the default mode when the program operation starts.
Fig. 8.3 Movement Mode of Incremental Mode (INC)
In this manual, the coordinate word that follows the logical axis name for the axis move command is expressed as
“reference position” or “position reference value.”
Program Current Position
The position on the work coordinate system when an axis is started moving by execution of an axis move command. And,
the work coordinate system is the coordinate system used in motion programs.
For information on the work coordinate system, refer to 8.3.1 Current Position Set (POS).
Motion Programs Sequence Programs
Available Not Available
• The movement of a coordinate word designated in ABS mode is entirely different from that of the same coor-
dinate word designated in INC mode. Before starting operations, be sure to check that the ABS or INC com-
mand is specified correctly.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.
CAUTION
Logical axis 2
Logical axis 1
Program
current position
Target position
Reference
position 1
Reference
position 2
INC;
MOV [Logical axis 1] Reference position 1 [Logical axis 2] Reference position 2;
Coordinate words
TERMS