Yaskawa MP940 - Manual (Page 457)

11.4 Position Control Using Motion Commands
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11
7. When the axis enters the Positioning Completed Range (OWC00E) after Distribution
Completed (bit 2 of IWC015 is ON), the POSCOMP Positioning Completed Signal (bit
D of IWC000) turns ON.
„ User Program Example: Positioning
Example of RUN Operation
Fig 11.19 Positioning Pattern
POSING
＝ POSING？
YES
YES
YES
NO
NO
NO
Completion condition check
Motion command response
Return (Other motion
command executing)
Motion command status-
DEN=ON?
POSCOMP operation
status = ON?
Return (POSING
executing)
Return (POSING
completed)
（ 100％）
0
Speed
(%)
Rated speed
Rapid
traverse
speed
Position
reference
Linear acceleration
time constant
Linear deceleration
time constant
Time
(t)