Yaskawa MP940 User Manual

Page 456

Motion Control

11.4.2 Positioning (POSING)

11-54

6. Start operation using positioning commands.

Use the specified motion parameters to perform positioning for the axis. Even during
positioning, the motion parameter settings can be changed.

The positioning command operations are as follows:

a) Operation Start

Servo ON (bit 0 of OWC001).

Set the positioning (POSING = 1) to motion command code (OWC020).

b) Feed Hold

Set Hold (bit 0 of OWC021) to ON.

At feed hold completion, HOLDL (bit 1 of IWC015) turns ON.

c) Feed Hold Release

Set Hold (bit 1 of OWC021) to OFF. Positioning resumes.

d) Abort

Set Abort (bit 1 of OWC021) to ON, or set NOP (= 0) in the motion command code.

Busy (bit 0 of IWC015) turns ON during abort processing, and turns OFF at comple-
tion of the abort.

Note: When the abort has been completed and released (ABORT turns

OFF), the following occurs:

• When the Position Reference Type (bit 14 of OWC001) is the absolute position

mode (= 0), positioning resumes in the direction of the Position Reference
(OLC012).

• When the Position Reference Type (bit 14 of OWC001) is the incremental addi-

tion mode (= 1), operations remain stopped until the Reference Position
(OLC012) is reset.

POSING

＝

NOP∥POSING∥

ENDOF INTERPOLATE?

YES

＝

NOP∥POSING∥

INTERPOLATE∥

ENDOF INTERPOLATE?

BUSY=OFF?

YES

Start condition check

Control mode = position

control mode?

Return (NG)

Motion command code

Motion command response

Motion command status

Return (OK)