Yaskawa MP920 User's Manual Design - Manual (Page 164)

4 Motion Control
4.4.2 Positioning (POSING)
4-50
7. When the axis enters the Positioning Completed Range (OW††0E) after Distribution
Completed (bit 2 of IW††15 is ON), the POSCOMP Positioning Completed Signal (bit
D of IW††00) turns ON.
„ User Program Example: Positioning
Example of RUN Operation
Fig. 4.15 Positioning Pattern
POSING
Completion condition check
Return (Other motion
command executing)
YES
YES
YES
NO
NO
NO
Motion command response
=POSING?
Motion command status
DEN=ON?
POSCOMP operation status
= ON?
Return
(POSING executing)
Return
(POSING completed)
(100%)
0
Speed
(%)
Time (t)
Linear acceleration time constant Linear deceleration time constant
Rated speed
Rapid traverse
speed
Position
reference