Yaskawa MP920 Motion Module - Manual (Page 62)

2 Motion Control
2.3.1 Prerequisites for Position Control
2-36
Reading Position Buffers
1. Set the Position Buffer Access Number (OL††38). Any number between 1 and 256
can be set.
2. Set Position Buffer Read (OB††21F) in the Motion Command Control Flags to ON.
3. After two scans, the position data specified in Position Buffer Read Data (IL††28)
will be stored.
1. Position buffers can be used only when motion commands are used in the position control mode.
2. The position data specified in the position buffers are absolute position references.
The data in the position buffers is deleted by turning OFF the power and resetting the CPU Module
Master. Be sure to set the data when the power is turned ON, or before using the position buffers.
Using the Position Buffers as Position References
1. Set bit 12 of the RUN Command Settings (OW††01) to ON.
2. Set a position buffer number 1 to 256 in place of the position reference in the Position
Reference Setting (OL††12).
93
93
543210
OW 21
CPU Module SVA Module
Axis 2
Axis 3
Axis 4
Axis 1 position buffers
OL 38
IL 28
1
2
3
256
1
2
3
256
1
2
3
256
1
2
3
256
543210 93
INFO
IMPORTANT
OL 12
12345
1
OB 01C
Position buffer number
Position buffers
This value will be
the position
reference.
OW 01