Yaskawa MP940 - Manual (Page 431)

11.3 Position Control
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11
The following table shows the differences when motion commands (OWC020) are used, and
when no motion commands are used.
Table 11.5 Differences When Motion Commands are Used/Not Used
The meaning of the terms used in the above table and their method of application are dis-
cussed below.
„ Reference Unit
The reference units input to the Module are set with the following motion fixed parameter
settings.
Pulses, millimeters, degrees, or inches can be used as the reference unit. The reference unit
is specified in bits 0 to 3 of motion fixed parameter No. 17 (Motion Controller Function
Selection Flags).
The minimum reference unit that can be specified in the Module is determined by the above
unit settings and the setting of motion fixed parameter No. 18 (Number of Digits Below
Decimal Point).
When motion commands (OWC020) are not used, the unit will be the pulse.
Item
Motion Commands
(OWC020) Not Used
Motion Commands
(OWC020) Used
Reference Unit Pulse Pulse, mm, inch, or deg can
be selected.
Electronic Gear Function Not possible Possible
Finite length position control Possible Possible
Infinite length position control that rotates
the axis in one direction only, without
resetting after one rotation Possible Possible
Infinite length position control that resets
the axis after one rotation Not possible Possible
Position reference Absolute position mode Absolute position mode or
incremental addition mode
can be selected.
Position buffer Not possible Possible
Position monitor Pulse unit Reference unit
Speed reference Percentage (%) reference The percentage (%) refer-
ence or the reference unit can
be selected.