Ex_Posing (External Positioning) - YASKAWA SVC User Manual

4.2.2

EX_POSING (External Positioning)

The EX_POSING command begins positioning the axis towards the target position according
to the specified target position and speed. Parameters related to acceleration and deceleration
are set in advance.
When the external positioning signal is turned ON during motion, the axis is moved by the
external positioning final travel distance from the current position. If the external positioning sig-
nal does not turn ON, positioning is completed to the original target position.
Information
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)
• OW04, Bits 4 to 7 (External Positioning Signal Setting)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL46 (External Positioning Final Travel Distance)
• 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 2 to execute the EX_POS-
ING motion command.
4.
Set the OL1C setting parameter (Position Reference Setting) in the same scan as
the setting parameters in step 2.
After the parameter is set, positioning will start for the axis to the position set in OL1C.
When the external positioning signal turns ON during positioning, the axis is moved by the external
positioning final travel distance from the current position.
When the axis stops, bit 8 (Command Execution Completed) in the IW09 monitor parameter will
change to 1 (Normal execution completed) and external positioning will end.
If bit 5 (Position Reference Type) in the OW09 setting parameter is set to 1 (Absolute
Information
value specification method), the target position can be set before executing the command.
5.
Set OW08 to 0 to execute the NOP motion command.
This concludes external positioning.
The SVR Function Module does not support external positioning for an external signal
input.
The operation will be the same as for the POSING command.
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.
4.2 Motion Command Details

4.2.2 EX_POSING (External 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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