Yaskawa MP940 Reference Manual - Manual (Page 450)

MotionSuite™ MP940 Machine Controller Reference Manual Position Control by Motion Commands
11-53
Detailed Description
The order of operations in the positioning is shown below.
1. Set initial fixed motion parameter and motion setting parameter values
to match the customer's machine.
Be sure to set the following parameters when executing position con-
trol with motion commands.
• Set bit 7 “Motion Command Use Selection” of fixed motion param-
eter 14 “Additional Function Selections” to “Use” (= 1).
• Set bit 8 “Motion Command Code Selection” of fixed motion
parameter 14 “Additional Function Selections” to “Enabled” (= 1).
2. Select the position control mode (PCON) (Bit 2 of OWC000).
3. Set the motion setting parameters used in positioning (POSING).
4. Turn the RUN command (Bit 0 of OWC001) ON.
5. Set positioning (POSING = 1) in the motion commands (OWC020).
Speed
(%)
(100%)
0
Time
(t)
Fast Feed
Speed
Linear Acceleration
TIme Constant
Linear Deceleration
TIme Constant
Rated Speed
1. Fixed Motion Parameter Setting
Setting of initial motion setting parameters
2. Set Position Control Mode (PCON)
3. Set motion setting parameters
4. Turn Servo ON (RUN) ON
6. Start of positioning operation
Signifies system execution.
5. Motion Commands
Execute external positioning
(EX_POSING)
7. Moves for the external only positioning
run distance at latch signal input
POSCONP
Positioning Completion Range
Signifies user execution.
Latch Signal (External Positioning Signal)
External
Positioning
Run Distance
8. Positioning completion signal
(POSCOMP) is ON
9. Motion Command Release
(Executes (NOP (=0))
RUN
PCON
Motion Command
(EX-POSING)