Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 345)

Appendices
D.1 General Precautions
A-24
D Precautions
D.1 General Precautions
(1) Saving the Changes in Programs to the Flash Memory
After changing an application such as a motion program or sequence program, always save the changed applica-
tion to the flash memory. If the changed application is not saved to the flash memory and the power to the
Machine Controller is turned OFF, the changed application will be lost.
(2) Prohibited Use of Debug Function for a System in Operation
Never use the debug function for a system in operation. Debugging will cause changes in program operation,
such as in command execution timing, resulting in malfunction or failure of the system.
For debugging, use the exclusive system for debugging.
D.2 Precautions on Motion Parameter Settings
(1) Set bit 5 (Position reference type) of motion setting parameter OW 09 to
Incremental value add method
When using a motion program, always set bit 5 (Position reference type) of motion setting parameter OW 09
to Incremental value add method. Motion programs manage position information using the incremental value
add method. Therefore, operation using a motion program cannot be guaranteed if bit 5 of motion setting param-
eter OW
09 is set to Absolute value set method.