2 ) holding – Yaskawa MP2200 Machine Controller User Manual
Page 240
5 Motion Commands
5.2.2 External Positioning (EX_POSING)
5-10
* If the Position Reference Type (OB095) is set for an absolute mode, the target position can be
set before executing the command.
( 2 ) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted.
A command is held by setting the Command Pause bit (OB090) to 1.
1.
Set the Command Pause bit (OB090) to 1. The axis will decelerate to a stop.
When the axis has stopped, the Command Hold Completed bit (IB091) will turn
ON.
2.
Reset the Command Pause bit (OB090) to 0. The command hold status will be cleared
and the remaining portion of the positioning will be restarted.
Set the motion setting parameters.
• External Positioning Move Distance:
OL46
• External Positioning Signal: OW04
• Positioning Speed: OL10
• Acceleration/Deceleration Filter Type:
OW03
• Speed Loop P/PI Switch: OW01
• The target position can be changed while the axis is moving.
The target position cannot be changed after the external positioning
signal is input.
• 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 OB090 to 1 to hold the command.
• Set OB091 to 1 or execute the NOP motion command to abort the
command.
• A latch zone can be set as long as it is supported by the SERVOPACK
being used.
Execute the External Positioning
(EX_POSING) motion command.
• Set OW08 to 2.
Set the target position.
• Target Position Setting: OL1C
∗
Positioning starts.
• IW08 will be 2 during positioning.
Turn ON the external positioning signal. The
axis will be moved the External Positioning
Move Distance and decelerate to a stop.
Positioning completed.
• IB098 will turn ON.
Execute NOP motion command.
• Set OW08 to 0.
Speed
%
100%
0
Time
t
Positioning
speed
Linear
acceleration time
Linear deceleration time
Rated speed
Latch signal
(external positioning signal)
External positioning
move distance