Yaskawa YASNAC PC NC PLC Programming Manual - Manual (Page 90)

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YASNAC PCNC PLC Programming Manual Chapter 6: PLC Instructions
RNO = 0: Position number of the rotating unit begins with “0”.
RNO = 1: Position number of the rotating unit begins with “1”.
• Designation of the number of bytes of the position data (BYT)
BYT = 0: Rotation body position number is 2-digit BCD data (1 byte).
BYT = 1: Rotation body position number is 4-digit BCD data (2 byte).
DIR = 0: The short cut rotation direction is not made. (only forward rotation is
performed.)
DIR = 1: The short cut rotation direction is made. (one shortest path direction
is output to R1.)
POS = 0: The number of steps to the target position is calculated.
POS = 1: The number of steps that is required to reach the step immediately before
the target position is calculated.
• Designation of the position number or the number of steps (INC)
INC = 0: The target position number is calculated.
INC = 1: The number of steps required to reach a target position is calculated.
• Execution command (ACT)
ACT = 0 ROT instruction is not executed.
ACT = 1: ROT instruction is executed.
• Output of rotation direction (R1)
R1 = 0: The rotation direction is “forward”.
R1 = 1: The rotation direction is “reverse”.
If the number of steps to the position one step before the target position is calculated
while the present position is equal to the target position (POS = 1, INC = 1), the result
of calculation is “0”.
FOR (forward) direction The direction in which the number increases in
reference to the index position.
REV (reverse) direction The direction in which the number decreases in
reference to the index position.