Yaskawa MP940 Reference Manual - Manual (Page 453)

Position Control by Motion Commands MotionSuite™ MP940 Machine Controller Reference Manual
11-56
User Program Example (positioning)
Example of Running Desired Operation (Positioning Pattern)
Ladder Program Example (Positioning Program Example 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.
The block diagram of the MP940 SVA position control mode appears on
the following page.
Position
Reference
Speed
%
（100％）
0
Time
(t)
Fast Feed
Speed
Linear Acceleration
Time Constant
Linear Deceleration
Time Constant
Rated Speed
IFON
H0104
RUNMOD
OWC000
0000010000
XREF
OLC012
RUN
OBC0010
SB000004
1
MCMDCODE
OWC020
IEND
DEND
Executing Positioning (POSING) as a
Motion Command
Position control begins when IB00304
turns ON. The axis then moves to the
absolute position 10000.
The absolute positioning completion
signal IBC000D goes ON upon
reaching absolute position 10000.
RUNPB
IB00304
Position Control Pulse (XREF)
(Absolute Position: 10000)
Position control mode ON