Yaskawa MP920 User's Manual Design - Manual (Page 166)

4 Motion Control
4.4.3 External Positioning (EX_POSING)
4-52
„ Details
Use the following procedure to perform external positioning 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 OW††00).
3. Set the motion setting parameters.
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 external positioning (EX_POSING) in the motion command code (OW††20).
6. Start the external positioning command execution.
(100%)
0
POSCONP
RUN
PCON
(EX_POSING)
2. Set the position control mode (PCON).
3. Set the motion setting parameters.
4. Set Servo ON (RUN) to ON.
6. Positioning started for the axis.
Speed
(%)
Rated speed
Rapid traverse
speed
Time (t)
Linear deceleration time constant
Positioning completed range
Motion command
External positioning
travel distance
: System execution
: User setting
Latch signal (external positioning signal)
1. Set the motion fixed parameters.
Set the motion setting parameter initial
values.
5. Execute the external positioning
(EX_POSING) motion command.
7. The axis is moved the external
positioning travel distance when
the latch signal is input.
8. Positioning completed signal
(POSCOMP) turned ON.
9. Release the motion command
(NOP (= 0)).
Linear acceleration time constant