Yaskawa MP2200 Machine Controller - Manual (Page 434)

8 SVR Virtual Motion Module
8.3.2 Motion Command Details
8-18
8.3.2 Motion Command Details
Basically, the SVR provides functions to loop from a Motion Command (OW††08) to the Motion
Command Type Response (IW††08).
For positioning-related motion commands, the SVR updates position information toward the final
target position using a positioning function.
( 1 ) Positioning (POSING)
The 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.
The speed and target position can be changed during operation. When the target position is changed
so that there is not sufficient deceleration distance or after the new target position has already been
passed, the system will first decelerate to a stop and then reposition according to the new target
position.
[ a ] Operating Procedure
* If the Position Reference Type (OB††095) is set for an absolute mode, the target position can be
set before executing the command.
（ Note） The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL††0E)
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Set the motion setting parameters.
• Positioning Speed: OL††10
• Acceleration/Deceleration Filter Type:
OW††03
• The target position can be changed while the axis is moving.
• The positioning speed can be changed while the axis is moving.
• Set OB††090 to 1 to hold the command.
• Set OB††091 to 1 or execute the NOP motion command to abort the
command.
Execute the positioning (POSING) motion
command.
• Set OW††08 to 1.
Set the target position.
• Target Position Setting: OL††1C ∗
Positioning starts.
• IW††08 will be 1 during positioning.
Position proximity reached.
• IB††0C3 will turn ON.
Positioning completed.
• IB††0C1 will turn ON.
Executed NOP motion command.
• Set OW††08 to 0.
100%
0
OW 08 = 1 (POSING)
IW 08 = 1 (POSING)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
Linear acceleration
time
Linear deceleration
time
Position
reference
Feed speed
Rated speed
Speed (%)
Time (t)