Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 346)

App
D Precautions
A-25
With a motion program, an ABS or INC command is used to set the absolute mode or incremental mode:
Code an ABS command to set the absolute mode (ABS).
Code an INC command to set the incremental mode (INC).
Fig. D.1 Movement Modes for Axis Move Commands
(2) Do not access a motion register from the I/O register by using a subscript
I/O registers and motion registers are not assigned to consecutive memory locations.
Therefore, when using a subscript, access is limited within the respective register range of I/O register and
motion register.
Logical axis 2
Absolute mode (ABS)
Logical axis 1
Program
current position
Logical axis 2
Incremental mode (INC)
INC;
Logical axis 1
Reference
position 1
The reference position is treated as the target position. The reference position is treated as the relative moving amount from
program current position.
Target position
ABS;
Target position
Reference
position 2
Reference
position 1
Reference
position 2
Coordinate
words
Coordinate
words
Program
current position
MOV [Logical axis 1] Reference position 1
[Logical axis 2] Reference position 2 ;
MOV [Logical axis 1] Reference position 1
[Logical axis 2] Reference position 2 ;
IW0000/OW0000
IW7FFF/OW7FFF
IW8000/OW8000
IWFFFF/OWFFFF
I/O registers
Motion registers
Example:
ޓޓ
I = 1;
ޓޓ OW7FFFi = 0;
Cannot access
Can access
Can access