Yaskawa MP940 - Manual (Page 477)

11.4 Position Control Using Motion Commands
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11.4.7 Fixed Speed Feed (FEED)
„ Overview
This command performs rapid traverse in the infinite length direction using the specified
acceleration/deceleration time constant and the specified rapid traverse speed.
The rapid traverse speed can be changed during operations.
The axis decelerates to a stop when NOP (= 0) is set in the motion command code
(OWC020).
„ Details
Use the following procedure to perform fixed speed feed 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).
3. Set the Rapid Traverse Speed (OLC022 or OWC015).
Set the motion setting parameter to be used with fixed speed feed (FEED).
4. Set Servo ON (RUN) to ON (bit 0 of OWC001).
5. Set fixed speed feed (FEED=7) in the motion command code (OWC020).
6. Start operation using the fixed speed feed (FEED).
PCON
RUN
0
POSCOMP
NOP
100%
1 Set the motion fixed parameters.
Set the motion setting parameter initial
values.
2 Set the position control mode (PCON).
3 Set the motion setting parameters.
4 Set Servo ON (RUN) to ON.
5 Execute the fixed speed feed (FEED)
motion command.
6 Fixed-speed positioning starts.
7 Execute the motion command (NOP (= 0)).
8 Positioning completed signal
(POSCOMP) turned ON.
Motion command
(FEED)
* The position is the speed ref-
erence integral value.
Speed
(%)
Rated speed
Rapid
traverse
speed
command
Position*
Time (t)
Linear acceleration time
constant
Linear deceleration time constant
Positioning completed range
: System execution
: User setting