Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 113)

8 Command Reference
8.1.1 Absolute Mode (ABS)
8-6
• When Selecting ABS Mode for an Infinite-length Axis
Specify 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.
The following diagrams illustrate the axis motions when specifying the position reference values 2700 and
-2700 from the current position 450 for the infinite-length axis, with POSMAX set to 3600.
• When the position reference value +0 is specified for an infinite-length axis in ABS mode, the axis moves in the nega-
tive direction.
Specify the POSMAX value for the position reference value to move the axis in the positive direction.
• If the target position (the absolute value of the position reference value) exceeds the POSMAX value for an infinite-
length axis in ABS mode, an alarm will occur in the motion program.
ABS;
MOV [A1]2700;
ABS;
MOV [A1] - 2700;
Positioning
end position
0
1800
900 2700
Positioning
end position
Current
postion
Current position
1800
900
0
3600
2700
A1
The axis moves in the positive direction
for positioning to 2700.
450
(POSMAX)
Positioning
end position
0
1800
900 2700
Positioning
end position
Current
position
Current position
A1
The axis moves in the negative direction
for positioning to 2700.
450
1800
900
0
3600
2700
(POSMAX)
INFO