Positioning After Continuous Operation; Positioning Patterns After Continuous Operation - YASKAWA SGD7S Product Manual

12.4

Positioning after Continuous Operation

12.4.1

Positioning Patterns after Continuous Operation

When the SERVOPACK receives a command to switch to positioning during continuous opera-
tion, the following three types of positioning can be performed depending on the parameter
settings. These positioning patterns can be used when a rotary coordinate system is specified.
• Direct positioning
• Positioning in specified rotation direction
• Positioning by the near course
Direct Positioning
For direct positioning, the motor rotates in the direction that was specified for continuous oper-
ation until a switching command is received. After receiving the switching command, the motor
starts positioning and moves to the end position. In this mode, the motor rotates only in the
direction that was specified for continuous operation. Also, the approach speed is not used
and positioning is performed at the high speed.
Speed
Continuous operation command
Positioning in Specified Rotation Direction
For positioning in the specified rotation direction, the motor rotates in the direction that was
specified for continuous operation until a switching command is received. After receiving a
switching command, the motor decelerates to the approach speed and stops at the end posi-
tion. In this mode, the motor rotates only in the direction that was specified for continuous
operation.
Speed
Continuous operation command
Continuous motor speed
Switching command
Continuous motor speed
Approach speed
Switching command

12.4 Positioning after Continuous Operation

12.4.1 Positioning Patterns after Continuous Operation

End position
Time
End position
Time
End position
End position
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