Yaskawa MP940 Reference Manual - Manual (Page 455)

External Positioning (EX_POSING) MotionSuite™ MP940 Machine Controller Reference Manual
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External Positioning (EX_POSING)
Just as in positioning (POSING), external positioning is executed to the
position reference using the designated accel/decel time constant and
designated fast feed speed.
When a latch signal (external positioning signal) is input during feed
execution, latch is executed at the current position according to the latch
signal, and positioning is done to a position advanced from that position by
only the external positioning run distance set in the parameters. The fast feed
speed and position reference can even be changed during operation.
If there is insufficient deceleration distance in the external positioning run
distance that was set, the axis will decelerate to stop at one end, then execute
positioning anew to the position reference.
The external positioning run distance can be changed until the latch signal
(external positioning signal) is input.
Use a dedicated discrete input (DI) as the latch signal (external positioning
signal).
Detailed Description
The order of operations in external positioning is shown below.