Yaskawa MP940 Reference Manual - Manual (Page 426)

MotionSuite™ MP940 Machine Controller Reference Manual Position Control
11-29
Position Control
This section deals with preparatory knowledge for position control and position con-
trol methods not using motion commands.
Preparatory Knowledge for Position Control
Outline of Position Control
Position control is used when proceeding to, and stopping at, a target
position, as well as for maintaining (servo clamp) that position.
Either an incremental encoder, or a Yaskawa-made absolute encoder can
be used for position detection.When a Yaskawa-made absolute encoder is
used, the zero-point return operation is not necessary at power ON
because the absolute position is stored in memory at machine (positioning
device) power OFF.
There are two methods of position control: that which uses the motion
command (OWC020), and that which does not use motion commands.
Set the following parameters to determine whether the motion command
(OWC020) is used or not.
Note: When bit 7 (Motion Command Use Selection) of fixed motion parameter 14 “Additional
Function Usage Selection” is selected for non-use, the system will operate as if the motion
command OWC020 is not used even if bit 8 (Motion Command Enablement Selection) of
the motion setting parameter “Operation Mode Setting (OWC000)” is set to “1” (enabled).
When using motion programs, set bit 14 “position reference type” of the
fixed motion parameter “Run Command Setting (OWC001)” to “1”
(Incremental Calculation Formula).
Motion Parameters
When Motion Command
(OWC020) Is Not Used
When Motion Command
(OWC020) Is Used
Bit 7 of Fixed Motion Parameter 14
“Additional Function Usage Selection” (Motion
Command Usage Selection) Unused (= 0) Used (= 1)
Bit 8 of Motion Setting Parameter
“Operation Mode Setting (OWC000)”
(Motion Command Code Enablement Selection) Disabled (= 0) Enabled (= 1)