Yaskawa MP2200 Machine Controller - Manual (Page 224)

4 Motion Parameters
4-104
( 4 ) Position References
The target position value for position control is set for the Position Reference Setting (motion setting
parameter OL††1C). There are two methods that can be set for using the Position Reference
Setting: Directly setting the coordinate of the target position value as an absolute value or adding the
moving amount from the previous command position as a incremental value.
The following table lists the parameters relating to position references.
Use incremental addition mode for an infinite length axis. In other words, the new moving amount (an
incremental moving amount) is added to the previous position reference in OL††1C and set as the
new position reference in OL††1C.
It is important to note that the position reference is not necessarily set between 0 and one less than the
Maximum Value of Rotary Counter (POSMAX).
Parameter Type
Parameter No.
(Register No.)
Name Description
Default
Value
Motion Setting
Parameters
OB††095
Position
Reference Type
Specify the type of position data.
0: Incremental Addition Mode
Adds the present moving amount value to the previous value
of OL††1C and sets the result in OL††1C.
1: Absolute Mode
Sets the coordinate of the target position in OL††1C.
Note:
• Always set to 0 when using a motion program.
• Always set to 0 when using an infinite length axis.
0
OL††1C
Position
Reference Setting
Set the position data.
• Incremental Addition Mode (OB††095 = 0)
The moving amount (incremental distance) specified this
time will be added to the previous value of OL††1C.
OL††1C
← Previous OL††1C + Incremental distance
Example:
If a travel distance of 500 is specified and the previous value
of OL††1C is 1000, the following will occur:
OL††1C
← 1000 + 500 = 1500
• Absolute Mode (OB††095 = 1)
The coordinate value of the target position is set.
Example:
Set 10000 to move to a coordinate value of 10000.
OL††1C
← 10000
0
INFO
Position Reference
Type
Merits Demerits
Incremental
addition mode
It is not necessary to consider the relationship
between OL††1C and the current position when
canceling a move. Incremental addition mode can
be used for finite or infinite length axis type. OL††1C does not necessarily equal the
coordinate value of the target position, so the
position reference can be difficult to understand
intuitively.
Absolute mode
The coordinate of the target position is specified
directly, making it easy to understand intuitively.
The current position must be set in OL††1C
whenever the power supply is turned ON or a move
is canceled. If this is not done, the axis may move
suddenly when a move command is started.
Absolute mode cannot be used for an infinite length
axis type.