YASKAWA S-7 Series Command Manual page 110

3.2 Servo Commands
3.2.13 External Input Positioning Command (EX_POSING: 39h)
Operating Sequence
The following describes the operating sequence for external input positioning operation using
the EX_POSING command.
1.
The master station sends the EX_POSING command. Target position P1 is set in the
"target position" field to be used as the positioning target if the external signal is not
input. It selects the latch signal with LT_SEL1 of SVCMD_CTRL and outputs the latch
request by setting LT_REQ1 = 1.
2.
The slave station starts feeding toward the positioning target position P1 at the speci-
fied speed when it receives the EX_POSING command. At the same time, it enters the
external input positioning mode.
3.
When the external positioning signal is input, the slave station sets latch completion
status L_CMP1 to "1" to notify the master station that current position latching by the
external positioning signal is completed.
4.
The slave station calculates "(External input positioning target P3) = (Position P2 latched
by the external positioning signal) + (Travel distance for external input positioning (com-
mon parameter 83))" and performs positioning to external input positioning target P3.
5.
After the completion of motion reference output to move the device to target position
P3, the slave station sets the motion reference output completed flag (DEN) to "1" to
notify the master station of the completion of motion reference output to move the
device to target position P3.
Information
3-44
Speed
Feed speed
External positioning signal
• To cancel the external input positioning, set SVCMD_CTRL.CMD_CANCEL to "1."
• The motion direction after latching is determined by the sign of the value set for the exter-
nal positioning final travel distance.
If the final travel distance for external positioning is a positive value:
• After latching during motion in the positive direction, the motor rotates in the positive
direction (the same direction) for positioning.
• After latching during motion in the negative direction, the motor rotates in the positive
direction (the reverse direction) for positioning.
If the final travel distance for external positioning is a negative value:
• After latching during motion in the positive direction, the motor rotates in the negative
direction (the reverse direction) for positioning.
• After latching during motion in the negative direction, the motor rotates in the negative
direction (the same direction) for positioning.
P2 (latched position data)
External positioning
final travel distance
P3
P1
Time