Yaskawa MP940 - Manual (Page 448)

Motion Control
11.3.2 Precautions in Changing to Position Control Mode
11-46
Pattern 3: Present position ≧ Target position
Deceleration stops after a time set in the deceleration time setting and then reverses the
direction to perform positioning to the target position for a time set in the acceleration time
setting.
As the target position is located before the present position, the speed is decelerated to a stop
and then, from this stop position, positioning is performed to the target position.
① ②
Speed
Target position change point
Travel distance to
target position
1 Present position
2 Target position
Time
Position