4.2 Motion Command Details
4.2.2 EX_POSING (External Positioning)
Operating Patterns
The following figure shows the operating pattern when the EX_POSING command is executed.
Speed (%)
(100%)
Latch signal (external positioning signal)
Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold
Command) in the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The motor will always decelerate to a stop, regardless of the setting of bits 8 to F (Stop Mode
Selection) in the OW
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the
IW09 monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is
restarted.
Canceling
• To stop an axis during motion and cancel the remaining motion, set bit 1 (Cancel Command)
in the OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during axis motion.
Related Parameters
The parameters that are related to this command are listed in the following table.
Setting Parameters
Register
Address
OW
Bit 0
OW
Bit 3
OW
Bit 8 to F
4-14
Rated speed
Speed Reference
Setting
(OL
10)
0
Linear Acceleration
Time Constant
(OL
36)
02 setting parameter.
Name
00
Servo ON
01
Speed Loop P/PI
Switch
02
Stop Mode Selection
External Positioning
Final Travel Distance
Time (t)
Linear Deceleration
Time Constant
(OL
38)
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 2 (EX_POS-
ING).
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and
P control.
0: PI control, 1: P control
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration
Time Constant parameter
1: Stop immediately
Setting Details
Continued on next page.