Yaskawa MP2200 Machine Controller - Manual (Page 239)

5.2 Motion Command Details
5-9
[ e ] Execution when an Alarm Occurs
5.2.2 External Positioning (EX_POSING)
The EX_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.
If the external positioning signal turns ON during axis movement, the axis will move the distance
specified for the External Positioning Move Distance from the point at which the external positioning
signal turned ON, and then stop. If the external positioning signal does not turn ON, positioning will
be completed to the original target position.
( 1 ) Operating Procedure
Undefined length of time
Alarm
1 scan
OW 08 = 1 (POSING)
IW 08 = 1 (POSING)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
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.