Yaskawa MP920 User's Manual Design - Manual (Page 189)

4.4 Position Control Using Motion Commands
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The axis performs fixed speed feed using the specified motion parameter.
Fixed speed feed cannot be temporarily stopped.
7. To stop (abort) fixed speed feed, set NOP (= 0) in the motion command code
(OW††20).
8. When the axis enters the Positioning Completed Range (OW††0E) after Distribution
Completed (bit 2 of IW††15 is ON), the POSCOMP Positioning Completed Signal (bit
D of IW††00) turns ON.
„ User Program Example: Fixed Speed Feed
Example of RUN Operation
Fig. 4.22 Example of a Fixed Speed Feed Pattern
NO
YES
Return (FEED completed)
Return (FEED executing)
FEED
End condition check
Motion command response
=FEED?
0
NOP
100%
Time (t)
Position*
Speed (%)
Rated speed
Rapid traverse
speed
* The position is the speed reference integral value.
command
Linear acceleration time constant Linear deceleration time constant