Yaskawa MP940 Reference Manual - Manual (Page 445)

Position Control MotionSuite™ MP940 Machine Controller Reference Manual
11-48
Turn the RUN command (Bit 0 of OWC001) ON.
The axis executes the positioning operation by a designated motion
parameter. The settings of any motion parameter can be changed even during
the positioning operation.
4. Position control mode run close
The positioning completion signal POSCOMP (bit D of IWC000) goes ON
when the axis enters the positioning completion range. Control will continue
even after entrance into the positioning completion range. To stop position
control, turn the RUN command or position control mode (PCON) OFF.