Yaskawa MP940 - Manual (Page 460)

Motion Control
11.4.3 External Positioning (EX_POSING)
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11.4.3 External Positioning (EX_POSING)
„ Overview
In the same way as the positioning (POSING) command, the external positioning
(EX_POSING) command positions the axis at the position reference position using the spec-
ified acceleration/deceleration time constant and the specified rapid traverse speed.
If a latch signal (external positioning signal) is input while at the feed speed, external posi-
tioning uses the latch signal to latch the current position, and positions the axis at a position
where it has traveled the external positioning travel distance set as a parameter from that
position.
The rapid traverse speed and position reference value can be changed even during operation.
When the specified external positioning travel distance is less than the deceleration distance,
the system first decelerates to a stop and then is repositioned according to the position refer-
ence value.
The external positioning travel distance can be changed before the latch signal (external
positioning signal) is input.
A specific discrete input (DI input) is used for the latch signal (external positioning signal).
„ Details
Use the following procedure to perform external positioning operations.
1. Set the initial values for the motion fixed parameters and the motion setting parameters
according to the user's machine.
2. Set the Position Control Mode (PCON) (bit 2 of OWC000).
（ 100％）
0
POSCONP
RUN
PCON
1 Set the motion fixed parameters.
Set the motion setting parameter initial
values.
2 Set the position control mode (PCON).
Motion command
(EX-POSING)
3 Set the motion setting parameters.
4 Set Servo ON (RUN) to ON.
5 Execute the external positioning
(EX_POSING) motion command.
6 Positioning started for the axis.
7 The axis is moved the external positioning
travel distance when the latch signal is
input.
8 Positioning completed signal (POSCOMP)
turned ON.
9 Release the motion command (NOP (= 0)).
Speed
(%)
Rated speed
Rapid
traverse
speed
External posi-
tioning travel
distance
Time
(t)
Linear acceleration
time constant
Linear deceleration time constant
Latch signal (external positioning signal)
Positioning completed range
: System execution
: User setting