Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 116)

8.1 Axis Setting Commands
8-9
8
Command Reference
(b) Finite-length Axis and Infinite-length Axis
The position reference value of a coordinate word for a finite-length axis must be handled differently from
one for an infinite-length axis.
The following table shows how to designate the position reference values for a finite-length axis and infinite-
length axis.
• Use bit 0 (Axis selection) of motion fixed parameter 1 (Function selection flag 1) to select a finite-length axis or infi-
nite-length axis.
Select a finite-length axis or infinite-length axis according to the machine configuration. For details on how to set
motion parameters, refer to the manual for the motion module to be used.
• Use the motion fixed parameter 10 (Infinite length axis reset position) to set POSMAX.
The motions of the finite-length axis and infinite-length axis in INC mode are shown below.
For the motions in ABS mode, refer to 8.1.1 Absolute Mode (ABS).
• When Selecting INC Mode for a Finite-length Axis
Specify the relative movement amount for the position reference value.
The following diagrams illustrate the axis motions when specifying the position reference values 2000 and
-2000 from the current position (1000).
Axis Type
Movement Mode for
Axis Move Command
Position Reference Value Designation Method
Finite-
length Axis
ABS Mode Designate the target position for the position reference value.
INC Mode Designate the relative movement amount for the position reference value.
Infinite-
length Axis
ABS Mode
Designate the target position in the range between 0 to POSMAX for the position
reference value.
The position reference value indicates the movement direction: Positive direction
with a positive value, and negative direction with a negative value.
INC Mode Designate the relative movement amount for the position reference value.
INFO
INC;
MOV [A1]2000;
INC;
MOV [A1] - 2000;
2000 0 -2000 1000
Current
Position
Current
Position
Positioning
end position
Positioning
end position
A1
3000
3000 2000 0 -1000 1000
A1