Yaskawa MP940 User Manual

Page 481

11.4 Position Control Using Motion Commands

11-79

The axis performs positioning using the specified motion parameter. Even during fixed
length feed operations, the motion parameter settings can be changed.

The fixed length feed command operations are as follows:

a) Operation Start

Set Servo ON (bit 0 of OWC001) to ON.

Set fixed length feed (STEP=8) in the 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.

Note: Even when the abort is completed and the abort is released (ABORT

turns OFF), operations remain stopped.

7. 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.

YES

=NOP II ENDOF_INTERPOLATE?

Start condition check

Control mode = position

control mode?

Return (NG)

Motion command code

Motion command response

Motion command status

Return (OK)

STEP

=NOP II STEP II POSING II

INTERPOLATE II

ENDOF_INTERPOLATE?

BUSY=OFF