Yaskawa MP920 User's Manual Design - Manual (Page 191)

4.4 Position Control Using Motion Commands
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„ Details
Use the following procedure to perform fixed length feed 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 Step travel distance (OL††28) and the Rapid Traverse Speed (OL††22 or
OW††15).
Set the motion setting parameter to be used with fixed length feed (STEP).
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 fixed length feed (STEP = 8) to the motion command code (OW††20).
6. STEP operation starts.
PCON
RUN
0
POSCOMP
100%
2. Set the position control mode (PCON).
3. Set the motion setting parameters.
4. Set Servo ON (RUN) to ON.
6. Fixed length feed starts.
Time (t)
Positioning completed range
Motion command
(STEP)
STEP
travel
distance
Speed (%)
Rated speed
Linear acceleration time constant Linear deceleration time constant
: System execution
: User setting
1. Set the motion fixed parameters.
Set the motion setting parameter initial
values.
5. Execute the fixed length feed (STEP)
motion command.
8. Execute the motion command
(NOP (= 0)).
7. Positioning completed signal
(POSCOMP) turned ON.
Rapid traverse
speed