Motion Command Details; Posing (Positioning) - YASKAWA SVC User Manual

4.2

Motion Command Details

This section describes motion commands in detail.
4.2.1

POSING (Positioning)

The POSING command positions the axis to the target position according to the specified tar-
get position and speed.
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
No.
1
2
3
*
Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2.
Set the following setting parameters.
• OW01, Bit 3 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)
Information
3.
Set the OW08 setting parameter (Motion Commands) to 1 to execute the POSING
motion command.
4.
Set the OL1C setting parameter (Position Reference Setting).
This starts the positioning operation. During positioning, the IW08 monitor parameter (Motion
Command Response Code) will be 1.
When the axis reaches the target near position, bit 3 (Near Position) in the IW0C monitor
parameter will change to 1 (Within near position range).
Then, when the axis reaches the target position, bit 1 (Positioning Completed) in the IW0C
monitor parameter will change to 1 (Within positioning completed range) and positioning will end.
• If bit 5 (Position Reference Type) in the OW09 setting parameter is set to 1 (Absolute
Information
• The OL1C setting parameter (Position Reference Setting) can be changed during
• If the target position (OL1C) is changed during positioning and there is not sufficient
Execution Condition
There must be no alarms.
The Servomotor's power must be ON.
Motion command execution for the target axis
must be completed.*
• OL10 can be changed during positioning.
• An override of between 0% and 327.67% can be set for OL10.
• OL14 can be changed at any time. The intended operation may not be achieved
if the set value is too small.
• If OL36 and OL38 are changed during operation, the specifications of the
SERVOPACK determine whether these changes are applied to acceleration and decel-
eration.
value specification method), the target position can be set before executing the command.
positioning.
distance for deceleration or if it is changed and the new target position has already been
passed, the system will first decelerate to a stop, and then positioning to the target posi-
tion will be performed.

4.2 Motion Command Details

4.2.1 POSING (Positioning)

Confirmation Method
Both IL02 and IL04 must be 0.
Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
IW09 must be 0.
4
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