Yaskawa MP920 Motion Module - Manual (Page 101)

2.4 Position Control Using Motion Commands
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2
The axis performs fixed speed feed using the specified motion parameter.
Fixed speed feed cannot be temporarily stopped.
6. To stop (abort) fixed speed feed, set NOP (= 0) in the motion command code
(OW††20).
When the axis enters the Positioning Completed Range (OW††0E) after Distribution
Completed (bit 2 of IW††15 is ON), the POSCOMP Positioning Completed Signal
(bit 13 of IW††00) turns ON.
YES
YES
YES
NO
NO
NO
FEED
Start condition check
Control mode =
position control mode?
Motion command code
= NOP||FEED?
Motion command response
= NOP||FEED?
Return (OK)
Return (NG)
Return (NG)
NO
YES
ZRET
End condition check
Motion command response
= FEED?
Return (FEED executing)
Return (FEED completed)