Yaskawa MP940 - Manual (Page 461)

11.4 Position Control Using Motion Commands
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3. Set the motion setting parameters.
4. Set Servo ON (RUN) to ON (bit 0 of OWC001).
5. Set external positioning (EX_POSING=2) in the motion command code (OWC020).
6. Start operation using the external positioning command.
The specified motion parameters are used to position the axis.
Even during positioning, the motion parameter setting values can be changed.
The external positioning command operations are as follows:
a) Operation Start
Servo ON (bit 0 of OWC001).
Set the external positioning (EX_POSING = 2) 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 abort
completion.
7. When the latch signal is input, the axis moves by the external positioning travel distance
(OLC024) and then stops.
EX POSING
＝ NOP∥EX POSING∥
ENDOF INTERPOLATE?
YES
YES
YES
NO
NO
NO ＝ NOP∥EX POSING∥
INTERPOLATE∥
ENDOF INTERPOLATE?
BUSY=OFF?
YES
NO
Start condition check
Control mode = position
control mode?
Return (NG)
Return (NG)
Motion command code
Motion command response
Motion command status
Return (OK)