5 ) timing charts, A ] normal execution, B ] execution when aborted – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual

Page 175

6.2 Motion Command Details

6.2.2 Latch Target Positioning (EX_POSING) (External Positioning)

6-14

( 5 ) Timing Charts

[ a ] Normal Execution

* Latch signal: Phase-C pulse, EXT1, EXT2, or EXT3 signal

[ b ] Execution when Aborted

Bit 8

Command
Execution
Completed

Turns ON when EX_POSING command execution has been completed.

Bit 0

Discharging
Completed

Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.

Bit 1

Positioning
Completed

Turns ON when pulse distribution has been completed and the current position is
within the Width of Positioning Completion. OFF in all other cases.

Bit 2

Latch Complete

This bit turns OFF when a new latch command is executed and turns ON when the
latch has been completed. The latched position is stored as the Machine Coordinate
System Latch Position (LPOS) (monitoring parameter IL

18).

−

Bit 3

NEAR Position

The operation depends on the setting of the NEAR Signal Output Width (setting
parameter OL

20).

20 = 0:Turns ON when pulse distribution has been completed (DEN = ON).

Otherwise, it turns OFF.

≠

0:Turns ON when

the absolute value of the difference between MPOS

(IL

12) and APOS (IL

16) is less than the NEAR Signal Out-

put Width even if pulse distribution has not been completed.
OFF in all other cases.

Machine Coordi-
nate System Latch
Position (LPOS)

Stores the current position in the machine coordinate system when the latch signal
turned ON.

−

(cont’d)

Parameter

Name

Monitor Contents

SVR

08 = 2 (EX_POSING)

09, bit 0 (BUSY)

Undefined length of time

09, bit 8 (COMPLETE)

09, bit 3 (FAIL)

0C, bit 0 (DEN)

(Phase-C, EXT1,2,3)

0C, bit 1 (POSCOMP)

Latch signal*

0C, bit 2 (LCOMP)

(Latch Completed)

1 scan

Travel distance

This position is stored. (IL

18)