YASKAWA SVC - Page 348

5.1 Motion Parameters
5.1.4 Position References
5-7
5
Machine-Specic Motion Control
• When changing the target position based on the current position when a POSING command
is being executed
• When changing to a POSING command when a non-POSING command is being executed
In the following cases, use setting method 2 to set the target position.
• When changing the target position based on the original target position when a POSING
command is being executed
 Setting Method 1
 Using the Incremental Value Addition Method (When Bit 5 in OW09 Is Set to 0)
Incremental value = Target position (a value between 0 and POSMAX) - IL  10 (CPOS) +
POSMAX × n
OL
 1C = OL  1C + Incremental value
n is the number of POSMAX turns needed to move from the current position (CPOS) to the tar-
get position. When the distance between the target position and the current position is within
the first turn, n is 0.

Using the Absolute Value Specification Method (When Bit 5 in OW09 Is Set to
1)
In this case, the reference can be issued even when distribution has not been completed (i.e.,
even when bit 0 in IW
 0C is 0).
Incremental value = Target position (a value between 0 and POSMAX) - IL
 10 (CPOS) +
POSMAX × n
OL
 1C = IL  14 (DPOS) + Incremental value
n is the number of POSMAX turns needed to move from the current position (CPOS) to the tar-
get position. When the distance between the target position and the current position is within
the first turn, n is 0.
Issue the reference only when distribution has been completed (i.e., when bit 0 in IW0C is
1).
When n = 2
Important
Example
POSMAX
0
2
31
-1
0
-2
31
IL10 (CPOS)
IL
12 (MPOS)
IL
16 (APOS)
IL
18 (LPOS)
IL
0E (TPOS)
IL
14 (DPOS)
Target position
(0 to POSMAX)
Current position
(0 to POSMAX)