Yaskawa MP940 Reference Manual - Manual (Page 446)

MotionSuite™ MP940 Machine Controller Reference Manual Position Control
11-49
User Program Examples
Example of Running Desired Operation (Position Pattern)
Operation Conditions
In the above figure, stoppage occurs at an absolute position of 10,000
pulses.
• Position Reference: XREF = 10000 pulses
Ladder Program Example (Run Command Dwg H03)
Although the examples in the above figures are extremely simplified, in
reality each of the register types can be freely controlled by the user program.
Position Reference
Speed
(%)
NR
（100％）
NREF
0
NACC NDEC
Time
(t)
Fixed Motion
Speed Reference
DEND
RUN
OBC0810 RUNPB
IB00304
Position control starts and the
absolute position moves to 10000
when IB00304 is ON. The
positioning completion signal goes
ON when the absolute position
reaches 10000.
Run command to drive (RUN)
0000010000
XREF
⇒ OLC092
Position Reference Pulse (XREF)
(Absolute Position: 10000)
H0004
RUNMOD
⇒ OWC080 Posiiton Control Mode ON