Yaskawa MP940 - Manual (Page 455)

11.4 Position Control Using Motion Commands
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11
„ Details
Use the following procedure to perform positioning operations.
1. Set the initial values for the motion fixed parameters and the motion setting parameters
according to the user's machine.
See the setting examples in 6.3 SVA Parameter Details .
When performing position control using motion commands, be sure to set the following
parameters:
• Set “Use (= 1)” in bit 7 (motion command use selection) of motion fixed parameter
No. 14 (Additional Function Selections).
• Set “1 (= Enabled)” in bit 8 (motion command code enabled selection) in the RUN
Mode Settings (OWC000) motion setting parameter.
2. Set the Position Control Mode (PCON) (bit 2 of OWC000).
3. Set the motion setting parameters.
4. Set Servo ON (RUN) to ON (bit 0 of OWC001).
5. Set positioning (POSING=1) in the motion command code (OWC020).
（ 100％）
0
RUN
PCON
POSCONP
1 Set the motion fixed parameters.
Set the motion setting parameter initial val-
ues.
2 Set the position control mode (PCON). Motion com-
mand (POS-
ING)
3 Set the motion setting parameters.
4 Set Servo ON (RUN) to ON.
5 Execute the positioning (POSING)
motion command.
6 Positioning starts.
7 Positioning completed signal (POSCOMP)
turned ON.
: System execution
: User setting
Speed (%)
Rated speed
Rapid
traverse
speed
Position
Time (t)
Linear acceleration time
constant
Linear deceleration time con-
stant
Positioning completed range