Yaskawa MP920 User's Manual Design - Manual (Page 167)

4.4 Position Control Using Motion Commands
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4
The specified motion parameters are used to position the axis.
Even during positioning, the motion parameter setting values can be changed.
The external positioning command operations are as follows:
a) Operation Start
Servo ON (bit 0 of OW††01).
Set the external positioning (EX_POSING) to motion command code (OW††20).
b) Feed Hold
Set Hold (bit 0 of OW††21) to ON.
At feed hold completion, HOLDL (bit 1 of IW††15) turns ON.
c) Feed Hold Release
Set Hold (bit 1 of OW††21) to OFF. Positioning resumes.
d) Abort
Set Abort (bit 1 of OW††21) to ON, or set NOP (= 0) in the motion command code.
Busy (bit 0 of IW††15) turns ON during abort processing, and turns OFF at abort
completion.
7. When the latch signal is input, the axis will move for the external positioning travel dis-
tance (OL††24) and stop.
At abort completion, operations remain stopped even if the abort is released (ABORT turns OFF) and
regardless of whether the Position Reference Type (bit 14 of OW††01) is the absolute position mode
(= 0) or the incremental addition mode (= 1).
YES
YES
YES
NO
NO
NO
YES
NO
Return (OK)
EX_POSING
Start condition check
Control mode
= position control mode?
Return (NG)
Motion command code
=NOP ||EX_POSING||
ENDOF_INTERPOLATE?
Motion command response
=NOP ||EX_POSING||
INTERPOLATE ||
ENDOF_INTERPOLATE?
Motion command status
BUSY=OFF?
Return (NG)
INFO