Yaskawa MP940 - Manual (Page 462)

Motion Control
11.4.3 External Positioning (EX_POSING)
11-60
At abort completion, operations remain stopped even if the abort is released (ABORT turns OFF) and
regardless of whether the Position Reference Type (bit 14 of OWC001) is the absolute position mode
(= 0) or the incremental addition mode (= 1).
8. When the axis enters the Positioning Completed Range (OWC00E) after Distribution
Completed (bit 2 of IWC015 is ON), the POSCOMP Positioning Completed Signal (bit
D of IWC000) turns ON.
9. Once external positioning has been completed, release the external positioning motion
command.
External positioning is detected at startup. Therefore, when external positioning has been executed, the
motion command must immediately be set to NOP for more than one scan, and external positioning
must be reset in a motion command.
„ User Program Example: External Positioning
Example of RUN Operation
Fig 11.22 Example of an External Positioning Pattern
INFO
EX POSING
BUSY＝OFF？
YES
YES
YES
NO
NO
NO
Completion condition check
Motion command
response =EX_POSING?
Return (Other motion
command executing)
Motion command status
POSCOMP operation
status = ON?
Return (EX_POSING
executing)
Return (EX_POSING
completed)
INFO
（ 100％）
0
Speed
(%) Rated speed
Rapid
traverse
speed
External positioning
travel distance
Time
(t)
Linear acceleration
time constant
Linear deceleration time constant
Latch signal (external positioning signal)