Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 87)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
3-2
3.1 Advanced Control Commands
In this section, the details of programming methods for advanced commands within the
motion control commands are explained. Since they are comparatively complicated,
beginners should skip this section and go to item 1.2 Motion Programing Method.
3.1.1 In-Position Check (PFN) Command
! ! ! ! Outline
During interpolation command movement, after an axis feed is complete, the In-position
Check (PFN*) command waits until the axis has entered the In-position Check Range.
When it enters the In-position Check Range, the next block is executed.
During interpolation command corner movement, this command is used to pass the
designated end position.
! ! ! ! Detailed Explanation
There are two designating methods for the PFN command.
a) When designating to the block simultaneously with the interpolation
commands
Execute the In-position Check for the axis designated by the MVS command,
then proceed to the next block.
b) When designating independently
* In-position Check (PFN): A function that detects if an axis has entered the positioning
completion range after the designated block movement starts deceleration.
With PFN Command
(passes the end position)
W ith o u t P F N co m m a nd
(p asse s close to the
e n d p o sition )
MVS [axis1]100.[axis2]200.F1000PFN;
PFN [axis1] [axis2];
MOV [axis1] - [axis2]-;