Yaskawa MP920 Motion Module - Manual (Page 78)

2 Motion Control
2.4.3 External Positioning (EX_POSING)
2-52
„ Details
Use the following procedure to perform external positioning operations.
1. Set the initial values for the motion fixed parameters and the motion setting parameters
according to the user’s machine.
2. Set the Position Control Mode (PCON) (bit 2 of OW††00).
3. Set the motion setting parameters to be used in the Position Control Mode.
4. Set Servo ON (RUN) to ON (bit 0 of OW††01).
For the PO-01 Module, set Excitation ON (RUN) to ON.
5. Set external positioning (EX_POSING = 2) in the motion command code (OW††20).
The external positioning command will be executed.
0
1. Set the motion fixed parameters.
Set the motion setting parameter initial values.
2. Set the position control mode (PCON).
3. Set the motion setting parameters.
4. Set Servo ON (RUN) to ON.
5. Execute the external positioning
(EX_POSING) motion command.
6. Release the motion command
(NOP (=0)).
RUN
PCON
Motion command
(EX-POSING)
: System execution
POSCONP
: User settings
Speed
(%)
(100%)
Time (t)
Rated speed
Linear acceleration time constant
Positioning completed range
Linear deceleration time constant
Latch signal
(external positioning signal)
Rapid
traverse
speed
External positioning
travel distance
Positioning started for the axis.
The axis is moved the external positioning
travel distance when the latch signal is
input.
Positioning completed signal (POSCOMP)
turned ON.