Yaskawa MP900 Series Motion Programming Manual - Manual (Page 92)

Advanced Programming
3.1.1 SECOND IN-POSITION CHECK (PFN)
3 -2
3
3.1 High-Level Control Commands
This section describes the programming methods for the high-level commands used for motion con-
trol.
3.1.1 SECOND IN-POSITION CHECK (PFN)
„
Overview
The IN-POSITION CHECK (PFN) command is used to pass near the end position (rounding off)
when movement is based on interpolation. It is used together with the INP command, and opera-
tions proceed to the next block after the second in-position check is completed as set by the INP
command.
When using an MP900-series Machine Controller
After the interpolation command is sent, the second in-position completed (IWxx17 bit 2) is
turned ON, and operations proceed to the next block.
The timing at which the second in-position completed signal is turned ON varies in accordance
with the series of the machine controller used and the settings of the parameters.
Condition 1: Discharging completed [DEN (IWxx15 bit2)] is ON.
Condition 2: |MPOS – APOS|
≤ Second in-position width (OWxx32)
MPOS: Machine coordinate system position (ILxx18)
APOS: Machine coordinate feedback position (ILxx08)
Condition 3: Positioning completed signal [POSCOMP (IWxx00 Bit13)] is ON.
‹ In-position check
After the movement of the designated block has started deceleration, this function detects that the axis
movement has entered the positioning completed range.
With PFN
Positioning
Interpolation command
without PFN
Machine Controller Series Setting of the second in-position width (OWxx32)
Not 0 0
MP930, MP940 If PENMODE (OWxx01 Bit
10) is OFF When satisfying the requirements of
<Condition 1> and <Condition 2> When satisfying the requirements of
<Condition 1>
If PENMODE (OWxx01 Bit
10) is ON When satisfying the requirements of
<Condition 2> When satisfying the requirements of
<Condition 3>
MP920 When satisfying the requirements of
<Condition 2> When satisfying the requirements of
<Condition 3>
TERMS