Yaskawa MP920 Motion Module User Manual
Page 102
2 Motion Control
2.4.7 Fixed Speed Feed (FEED)
2-76
User Program Example: Fixed Speed Feed
Example of RUN Operation
Ladder Logic Program Example
Fig. 2.22 Fixed Speed Feed Programming Example (DWG H03)
The example in the above illustration has been greatly simplified. In actual operation, each
register can be controlled from the user program.
0
* The position is the speed reference integral value.
Linear acceleration time constant
Linear deceleration time constant
Speed (%)
100%
Position*
Rated speed
Rapid traverse
speed
NOP
command
Time (t)
H0104
RUNMOD
OWC000
SB000004
IB00303
RUN
OBC0010
RUNPB
IB00304
IFON
DIRECTION
OBC0212
MCMDCODE
OWC020
000000 5000
ELSE
7
0
MCMDCODE
OWC020
IEND
DEND
RV
OLC022
Set the position control mode to ON.
Send RUN command to driver.
When IB00303 turns ON, the direc-
tion of rotation is reversed.
When IB00304 turns ON, the fixed speed
feed starts.
Rapid traverse speed (RV): 5,000,000
pulses/min.
Execute the fixed speed feed (FEED)
motion command.
When IB00304 turns OFF, the axis
decelerates to a stop.
When the axis stops, the positioning
completed signal (IBC000D) turns ON.