Yaskawa MP900 Series Motion Programming Manual - Manual (Page 80)

2.1 Axis Move Commands
2 -27
2.1.8 EXTERNAL POSITIONING (EXM)
J
Overview
When the external positioning signal is input while positioning is being executed, the EXTER-
NAL POSITIONING (EXM) command completes positioning by using an incremental value
to move the axis the specified travel distance, and then executes the next block.
J Description
The EXM command is designated as follows:
EXM [axis] − D−;
A B
A: Reference position
B: Travel distance from time of external positioning signal input
(incremental distance)
External positioning signal
Travel distance from time of
external positioning signal input
Figure 2.20 EXTERNAL POSITIONING (EXM) Signal
When a negative value is specified for the travel distance, the axis decelerates to stop, and then
moves in the negative direction.
D The EXM command is valid for only one axis. It is not a modal command.
D If a machine lock occurs, EXM ignores the signal and executes only the designated travel
distance.
D If no external signal is input, the axis moves to the reference position.
1. Connect the external positioning signal to the Servopack 1CN 10-pin external latch (/EXT) connector.
2. The external latch (/EXT) input signal is also used by the zero point return when using a zero point limit
switch.
3. The unit of D-designation (moving amount from external positioning signal input) is pulse.
2
IMPORTANT