Yaskawa MP940 Reference Manual User Manual

Page 458

MotionSuite™ MP940 Machine Controller Reference Manual

External Positioning (EX_POSING)

11-61

Command Abort

Turns the ABORT command (bit 1 of OWC021) ON or sets NOP
(= 0) into the motion commands.

BUSY (bit 0 of IWC0150) will go ON during abort processing,
and OFF at abort completion.

Upon input of the latch signal, the axis shifts by the external positioning run
distance (OLC024). The axis remains stopped even if ABORT is released
(ABORT OFF) at abort completion. The axis remains stopped whether the
position reference type (bit 14 of OWC001) is set to “absolute position type
(= 0)” or “incremental addition type (= 1)”.

The positioning completion signal POSCOMP (bit D of IWC000) is ON
upon entering the positioning completion range (OWC00E) following feed
completion (bit 2 of IWC015 is ON).

Release external positioning in the motion commands when positioning is
complete.

External positioning detects the boot-up. Therefore, the motion commands
must be set to NOP for at least one scan, and to reset external positioning into
the motion commands once external positioning has been executed.

EX POSING

Completion Conditions Check

Motion Command Response

= EX_POSING?

Motion Command Status

BUSY= OFF?

RUN Status

POSCOMP=ON?

return(EX_POSING

Completion)

return (execution of other

motion commands)

return(EX_POSING

Execution)

YES