Yaskawa MP920 Motion Module - Manual (Page 321)

7.2 Functions
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7.2.2 Motion Functions
„ Motion Commands
The motion control functions for the PO-01 Module include positioning (POSING), zero
point return (ZRET), interpolation (INTERPOLATE), fixed speed feed (FEED) and fixed
length feed (STEP) which can be set individually for all axes.
Table 7.4 List of Motion Functions
Function Description
Positioning
(POSING) Positions axes using the specified acceleration/deceleration time con-
stants and the specified feed speed.
Zero Point Return
(ZRET) Positions axes by moving them only the distance traveled to return to the
zero point using the zero point signal. There are four ways to return to
the zero point.
Interpolation
(INTERPOLATE) Performs interpolated feed using position data distributed by the CPU
Module every high-speed scan.
Fixed Speed Feed
(FEED) Performs infinite rapid traverse feeding in the specified direction using
the specified acceleration/deceleration time constants and the specified
feed speed. When the NOP command is executed, the system will decel-
erate to a stop.
Fixed Length
Speed (STEP) Positions axes in the specified direction for the specified travel distance
(step distance) at rapid traverse speed according to the specified acceler-
ation/deceleration time constants.