Yaskawa MP920 Motion Module - Manual (Page 76)

2 Motion Control
2.4.2 Positioning (POSING)
2-50
• When the Position Reference Type (bit 14 of OW††01) is the incremental addi-
tion mode (= 1), operations remain stopped until the Position Reference Setting
(OL††12) is reset.
6. 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.
„ User Program Example: Positioning
Example of RUN Operation
Fig. 2.15 Positioning Pattern
YES
YES
YES
NO
NO
NO
POSING
Completion condition
check
Motion command response
= POSING?
Return (Other motion
command executing)
Return
(POSING executing)
Motion command status
DEN = ON?
POSCOMP operation status
= ON?
Return
(POSING completed)
0
Speed
(%)
100%
Position
reference
Rated speed
Rapid traverse
speed
Linear acceleration time constant Linear deceleration time constant
Time (t)