2 external positioning (ex_posing), 2 exter, 2 external positioning (ex_posing) -9 – Yaskawa MP2200 Machine Controller User Manual
Page 239: 1 ) operating procedure
5.2 Motion Command Details
5-9
[ e ] Execution when an Alarm Occurs
5.2.2 External Positioning (EX_POSING)
The EX_POSING command positions the axis to the target position using the specified target
position and speed. Parameters related to acceleration and deceleration are set in advance.
If the external positioning signal turns ON during axis movement, the axis will move the distance
specified for the External Positioning Move Distance from the point at which the external positioning
signal turned ON, and then stop. If the external positioning signal does not turn ON, positioning will
be completed to the original target position.
( 1 ) Operating Procedure
Undefined length of time
Alarm
1 scan
OW
08 = 1 (POSING)
IW
08 = 1 (POSING)
IB
090 (BUSY)
IB
098 (COMPLETE)
IB
093 (FAIL)
IB
0C0 (DEN)
IB
0C1 (POSCOMP)
No.
Execution Conditions
Confirmation Method
1
There are no alarms.
Both IL02 and IL04 are 0.
2
The Servo ON condition.
IB001 is ON.
3
Motion command execution has been completed.
IW08 is 0 and IB090 is OFF.