Yaskawa MP2200 Machine Controller - Manual (Page 234)

5 Motion Commands
5.2.1 Positioning (POSING)
5-4
5.2 Motion Command Details
5.2.1 Positioning (POSING)
The POSING command positions the axis to the target position using the specified target position
and speed. Parameters related to acceleration and deceleration are set in advance.
The speed and target position can be changed during operation. When the target position is changed
so that there is not sufficient deceleration distance or after the new target position has already been
passed, the system will first decelerate to a stop and then reposition according to the new target
position.
( 1 ) Operating Procedure
* If the Position Reference Type (OB††095) is set for an absolute mode, the target position can be
set before executing the command.
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Set the motion setting parameters.
• Positioning Speed: OL††10
• Acceleration/Deceleration Filter Type:
OW††03
• Speed Loop P/PI Switch: OW††01
• The target position can be changed while the axis is moving.
• The positioning speed can be changed while the axis is moving.
• An override of between 0% to 327.67% can be set for the positioning
speed.
• Set OB††090 to 1 to hold the command.
• Set OB††091 to 1 or execute the NOP motion command to abort the
command.
Execute the positioning (POSING) motion
command.
• Set OW††08 to 1.
Set the target position.
• Target Position Setting: OL††1C ∗
Positioning starts.
• IW††08 will be 1 during positioning.
Position proximity reached.
• IB††0C3 will turn ON.
Positioning completed.
• IB††0C1 will turn ON.
Executed NOP motion command.
• Set OW††08 to 0.
%
100%
0
t
Position
Reference
Speed
Time
Travel speed
Linear
acceleration
time Linear
deceleration
time
Rated speed