Yaskawa MP920 User's Manual Design - Manual (Page 162)

4 Motion Control
4.4.2 Positioning (POSING)
4-48
„ Details
Use the following procedure to perform positioning operations.
1. Set the initial values for the motion fixed parameters and the motion setting parameters
according to the user’s machine.
When performing position control using motion commands, be sure to set the following
parameters:
• Set “Use (= 1)” in bit 7 (motion command use selection) of motion fixed parame-
ter No. 14 (Additional Function Selections).
• Set “1 (= Enabled)” in bit 8 (motion command code enabled selection) in the RUN
Mode Settings (OW††00) motion setting parameter.
2. Set the Position Control Mode (PCON) (bit 2 of OW††00).
3. Set the motion setting parameters used for positioning (POSING).
4. Set Servo ON (RUN) to ON (bit 0 of OW††01).
For a PO-01 Module, set Excitation ON (RUN) to ON.
5. Set positioning (POSING) in the motion command code (OW††20).
6. Positioning started for the axis.
2. Set the position control mode (PCON).
1. Set the motion fixed parameters.
Set the motion setting parameter initial values.
3. Set the motion setting parameters.
5. Execute the positioning (POSING)
motion command.
4. Set Servo ON (RUN) to ON.
7. Positioning completed signal (POSCOMP)
turned ON.
: System execution
: User setting
RUN
PCON
Motion command
(POSING)
(100%)
0
POSCONP
Speed
(%)
Rated speed
Rapid traverse
speed
Position
Time (t)
Linear acceleration time constant Linear deceleration time constant
Positioning completed range