Yaskawa MP940 Reference Manual - Manual (Page 457)

External Positioning (EX_POSING) MotionSuite™ MP940 Machine Controller Reference Manual
11-60
b. The axis executes the external positioning operation by a desig-
nated motion parameter. The settings of any motion parameter
can be changed even during the external positioning operation.
The operation of the external positioning command is as follows:
c. Run Start
RUN (bit 0 of OWC001)
d. Set external positioning (EX_POSING = 2) in the motion com-
mands (OWC020).
e. Command Hold
Turns the HOLD command (bit 0 of OWC021) ON.
HOLD (bit 1 of IWC015) is ON at command hold completion.
f. Program Hold Release
Turns the HOLD command (bit 0 of OWC021) OFF. The posi-
tioning operation restarts.
EX POSING
Start Condition Check
Control Mode = Position Control?
Motion Command
= NOP||EX POSING||
ENDOF_INTERPOLATE?
return(OK)
return(NG)
return(NG)
YES
YES
YES
NO
NO
NO
Motion Command Response
= NOP||EX POSING||
INTERPOLATE||
ENDOF_INTERPOLATE?
Motion Command Status
BUSY=OFF?
YES
NO