Yaskawa MP920 User's Manual Design - Manual (Page 149)

4.3 Position Control
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4
With the SVA-02A (2-axis Servo Module), there are position buffers for only 2 axes.
Using the Position Buffers
1. By first storing in the position buffers the position information for a machine whose
operating 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 operation.
Writing to Position Buffers
a) Set the Position Buffer Access Number (OL††38)(1 to 256).
b) Set the Position Buffer Write Data (OL††3A).
c) Set the Position Buffer Write (OB††21E) in the Motion Command Control Flags to
ON.
Axis 1 position buffers
1
2
3
256
1
2
3
256
1
2
3
256
1
2
3
256
Axis 2
Axis 3
Axis 4
CPU Module SVA Module
RUN Command Settings
Position Reference Setting
Motion Control Flags
Position Buffer Access Number
Position Buffer Write Data
Position Buffer Read Data
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OW 01
OL 12
OW 21
OL 38
OL 3A
IL 28
INFO
CPU Module
96
123456
OW 21
OL 38
OL 3A
1
2
3
256
1
2
3
256
1
2
3
256
1
2
3
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.
.
.
.
256
96
.
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123456
SVA Module
Axis 2
Axis 3
Axis 4
Axis 1 position buffers