Yaskawa MP940 Reference Manual - Manual (Page 449)

Position Control by Motion Commands MotionSuite™ MP940 Machine Controller Reference Manual
11-52
Positioning (POSING)
The MP940 positions to a designated location at a designated accel/decel
speed and designated fast feed speed. The fast feed speed and position
reference can even be changed during operation.
If the modified position reference has insufficient deceleration distance, or
reverses, the axis decelerates to a stop at one end, then executes positioning
anew to the position reference.
6 Interpolation with
Position Detection
(LATCH): Upon input of a latch signal during interpolation feed
operation, executes counter latch, and messages the latch
position converted into command units.
7 Set Speed Feed (FEED): Executes fast feed speed in one unbounded direction at a
designated speed and acceleration time.
8 Fixed Length Feed
(STEP): Executes stepping positioning in a designated direction at a
designated speed and acceleration time constant.
9 Zero-Point Setting
(ZSET) Determines the “machine coordinate zero-point” and enables
a soft limit check.
Command Name Summary
Position*
Speed (%)
Time (t)
0
Rated Speed
Linear Acceleration
Time Constant
Linear Deceleration
Time Constant
Command NOP
100%
*The position is the speed reference integral
Fast Feed
Speed
STEP
Motion
Speed (%)
0
Rated Speed
Linear Acceleration
Time Constant
Linear Deceleration
Time Constant
100%
Fast Feed
Speed