Yaskawa MP2000 Series: User's Manual for Motion Programming User Manual

Page 112

8.1 Axis Setting Commands

8-5

Command Reference

(b) Finite-length Axis and Infinite-length Axis

The position reference value of a coordinate word for a finite-length axis must be handled differently from
one for an infinite-length axis.
The following table shows how to designate the position reference values for a finite-length axis and infinite-
length axis.

• Use bit 0 (Axis selection) of motion fixed parameter 1 (Function selection flag 1) to select a finite-length axis or infi-

nite-length axis.
Select a finite-length axis or infinite-length axis according to the machine configuration. For details on how to set
motion parameters, refer to the manual for the motion module to be used.

• Use the motion fixed parameter 10 (Infinite length axis reset position) to set POSMAX.

The motions of the finite-length axis and infinite-length axis in ABS mode are shown below.
For the motions in INC mode, refer to 8.1.2 Incremental Mode (INC).

• When Selecting ABS Mode for a Finite-length Axis

Specify the target position for the position reference value.
The following diagrams illustrate the axis motions when specifying the position reference values 2000 and
-2000 from the current position (1000).

Axis Type

Movement Mode for

Axis Move Command

Position Reference Value Designation Method

Finite-

length Axis

ABS Mode

Designate the target position for the position reference value.

INC Mode

Designate the relative movement amount for the position reference value.

Infinite-

length Axis

ABS Mode

Designate the target position in the range between 0 to POSMAX for the position
reference value.
The position reference value indicates the movement direction: Positive direction
with a positive value, and negative direction with a negative value.

INC Mode

Designate the relative movement amount for the position reference value.

INFO

ABS;

MOV [A1]2000;

ABS;

MOV [A1] - 2000;

2000

-2000

1000

Current

position

Positioning

end position