Yaskawa MP900 Series Motion Programming Manual User Manual
Page 95
3.1 High-Level Control Commands
3 -5
The setting for the second in-position width (MP2000 Series: positioning completed width 2)
is as follows:
1 to 65,535 [reference units]
As shown in the above illustration, the second in−position check starts as soon as pulse distribu-
tion for the designated block has been completed. Therefore, if a fairly large value is set by the
INP command, the second in−position check will end immediately at the point where pulse dis-
tribution is completed, and execution will proceed to the next block.
D
Once the INP command has been set, the second in-position width (MP2000 Series: position-
ing completed width 2) will remain in effect for all subsequent interpolation commands for
which PFN is designated until it is cancelled.
D
To cancel the second in-position check, specify 0 for the second in-position width (MP2000
Series: positioning completed width 2) for the axis to be cancelled. Only those axes for which
0 is specified will be cancelled.
J
Programming Examples
ABS MOV [axis1]0 [axis2]0;
Positioning to zero point
INP [axis1](a) [axis2](b);
Sets the second in-position width
MVS [axis1]100 PFN;
Linear interpolation in X-axis direction
MVS [axis2]100 PFN;
Linear interpolation in Y-axis direction
MVS [axis1]−100 PFN;
Linear interpolation in X-axis direction
-100
(0, 0)
100
(a)
(b)
+axis1
+axis2
100
Figure 3.4
Programming Example for SECOND IN-POSITION CHECK
3
A
EXAMPLE
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