Yaskawa MP940 - Manual (Page 438)

Motion Control
11.3.1 Prerequisites for Position Control
11-36
Position Buffers
The position buffers are a collection of position data stored in the SVA Module, and a maxi-
mum of 256 points can be stored for each axis. They are used for the position data when
POSITIONING and other motion commands are executed. Continuous operation is enabled
by storing the position data in advance, and by using a simple program that only specifies
the points.
Using the Position Buffers
By first storing in the position buffers the position information for a machine whose operat-
ing pattern has been determined in advance, continuous positioning of up to 256 points is
enabled simply by refreshing the buffer pointer at the completion of a single-block opera-
tion.
Reading/Writing Position Buffers
1. Writing to Position Buffers
1
2
3
・
・
・
・
・
256
OWC001
OLC012
OWC021
OLC038
OLC03A
ILC028
CPU SVA
RUN Command Settings
Position Reference Setting
Motion Control Flags
Position Buffer Access Number
Position Buffer Write Data
Position Buffer Read Data
Position buffer
CPU SVA
123456
OWC021
OLC038
OLC03A
1
2
3
・
・
・
・
・
・
256
96
・
・
・
123456
96
Position buffers