Yaskawa MP2200 Machine Controller - Manual (Page 437)

8.3 Motion Commands
8-21
( 2 ) External Positioning (EX_POSING)
The latch function cannot be used for the SVR. EX_POSING thus performs the same operation as the
POSING command.
[ 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)
• Target Position (CPOS) (IL††10)
• Machine Coordinate System Position (MPOS) (IL††12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL††16): APOS is always equal to CPOS.
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 External Positioning
(EX_POSING) motion command.
• Set OW††08 to 2.
Set the target position.
• Target Position Setting: OL††1C ∗
Positioning starts.
• IW††08 will be 2 during positioning.
Position proximity reached.
• IB††0C3 will turn ON.
Positioning completed.
• IB††C1 will turn ON.
Execute NOP motion command.
• Set OW††08 to 0.
100%
0
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_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)