Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 117)

8 Command Reference
8.1.2 Incremental Mode (INC)
8-10
• When Selecting INC Mode for Infinite-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 2700 and
-2700 from the current position 450 for the infinite-length axis, with POSMAX set to 3600.
• If the absolute value of the position reference value (coordinate word) exceeds the POSMAX value, the position refer-
ence value (coordinate word) is used for the relative movement amount to move the axis in INC mode .
INC;
MOV [A1]2700;
INC;
MOV [A1] - 2700;
Positioning
end position
0
1800
900 2700
Positioning
end position
Current
position
Current position
1800
900
0
3600
2700
A1
450 3150
(POSMAX)
0
1800
900 2700
Positioning
end position
Current
position
Current position
A1
450
1350
1800
900
0
3600
2700
(POSMAX)
Positioning
end position
INFO
INC;
MOV [A1]6300; "|6300|>3600(POSMAX)
0
1800
900 2700
Positioning
end position
Current
position
Current position
1800
900
0
3600
2700
A1
450 3150
(POSMAX)
Positioning end position