Yaskawa JAPMC-MC2300 - Manual (Page 149)

7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
7-9
7
Motion Commands
7.2.2 External Positioning (EX_POSING)
The EX_POSING command positions the axis to the target position using the specified target position and speed.
Parameters related to acceleration and deceleration are set in advance.
If the external positioning signal turns ON during axis movement, the axis will move the distance specified for the
External Positioning Move Distance from the point at which the external positioning signal turned ON, and then stop.
If the external positioning signal does not turn ON, positioning will be completed to the original target position.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
* This condition is a basic execution condition. Refer to Chapter 8 Switching Commands during Execution on
page 8-1 when changing the command that is being executed to an EX_POSING command.
2.
Set the following motion setting parameters.
External Positioning Final Travel Distance: OL 46
External Positioning Signal Setting: OW 04
Speed Reference Setting: OL 10
Filter Type Selection: OW 03, bits 8 to B
Position Reference Setting: OL 1C
The Speed Reference can be changed during operation.
An override of between 0% to 327.67% can be set for the speed reference.
A latch zone can be set.
3. Set OW 08 to 2 to execute the EX_POSING motion command to use the preceding settings in the
same scan.
4.
Turn ON the external positioning signal.
The axis will move for the External Positioning Final Travel Distance and decelerate to a stop.
IW
09, bit 8 will turn ON when the axis stops and external positioning has been completed.
5.
Set OW 08 to 0 to execute the NOP motion command to complete the external positioning opera-
tion.
No. Execution Conditions Confirmation Method
1 There are no alarms. IL 04 is 0.
2 The Servo ON condition. IW 00, bit 1 is ON.
3 Motion command execution has been completed. * IW 08 is 0 and IW 09, bit 0 is OFF.
Speed
Rated Speed
Speed Reference
Setting
(OL 10)
100(%)
Acceleration Time Constant
(OL 36)
Deceleration Time Constant
(OL 38)
Time
External input signal
EXT (pin No. 36) or
ZERO (pin No. 18) or
Phase-C signal
Discharging Completed
(IW 0C, bit 0)
Positioning Completed
(IW 0C, bit 1)
NEAR Position
(IW 0C, bit 3)
0
External Positioning
Final Travel Distance
(OL 46)
EX_POSING Operation Pattern