Yaskawa MP900 Series Motion Programming Manual - Manual (Page 94)

Advanced Programming
3.1.2 SET SECOND IN-POSITION RANGE (INP)
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3.1.2 SET SECOND IN-POSITION RANGE (INP)
J Overview
The SET SECOND IN-POSITION RANGE (INP) command is used to pass through a position
near the end position (rounding off) when movement is based on interpolation with PFN designa-
tion.
Axis 2
Axis 1
Interpolation path when no
second in-position check is
executed
Moderate rounding off
by PFN after INP
Figure 3.2 SET SECOND IN-POSITION RANGE Command
J Description
The INP command is designated as follows:
INP [axis1] − [axis2] − SSS ;
Second positioning completed range
The command above stores the command values in the following parameter.
D (a) When using an MP900-series Machine Controller
Second in-position width (OWxx32)
D When using an MP2000-series Machine Controller
Positioning completed width 2 (OLxx20)
Execution proceeds to the next block when the deviation between the machine coordinate system
position and the machine coordinate feedback position is detected as entering the range of the
above parameter by an interpolation command for which PFN is designated or by a single PFN
command.
If there is more than one moving axis, execution proceeds to the next block after the designated
range has been entered by all axes.
Actual interpolation
movement
Reference pulse
Speed
Start of second in-position check
Next block
Second in-position width (positioning com-
pleted width 2) (designated in the program)
Time
Figure 3.3 SET SECOND IN-POSITION RANGE Operation
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