Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 115)

8 Command Reference
8.1.2 Incremental Mode (INC)
8-8
(2) Format
(3) Programming Example
An INC command programming example is given below.
Fig. 8.4 INC Command Programming Example
(4) Supplemental Information on INC Command
(a) Related Motion Parameters
Motion setting parameters and INC commands have no relation.
The movement mode (ABS mode/INC mode) for axis move commands is control data exclusively reserved
for motion programs, and no motion setting parameter can be used to specify these modes.
• To code an individual INC command
INC;
• To code an INC command in the same block with an axis move command
INC MOV [Logical axis name 1 ] ⎯ | [Logical axis name 2 ] ⎯ ;
INC; " Incremental mode
MOV [A1]20000 [B1]30000; " Positioning
MOV [A1]20000 [B1]10000; " Positioning
END;
EXAMPLE
Program
current position
B1
A1
0
20000
30000
20000
10000