External Positioning (Ex_Posing) - YASKAWA MP2100 Series User Manual

8 Motion Commands

8.3 External Positioning (EX_POSING)

The EX_POSING command positions the axis to the target position using the specified target position and speed.
Parameters related to acceleration and deceleration are set in advance.
If the external positioning signal turns ON during axis movement, the axis will move the distance specified for
the External Positioning Move Distance from the point at which the external positioning signal turned ON, and
then stop. If the external positioning signal does not turn ON, positioning will be completed to the original target
position.
(1) Operating Procedure
No.
1 There are no alarms.
2 The Servo ON condition.
3 Motion command execution has been completed.
Set the motion setting parameters.
• External Positioning Move Distance:
OL
• External Positioning Signal: OW
• Positioning Speed: OL
• Acceleration/Deceleration Filter Type:
OW
• Speed Loop P/PI Switch: OW
Execute the External Positioning
(EX_POSING) motion command.
• Set OW
Set the target position.
• Target Position Setting: OL
Positioning starts.
• IW
Turn ON the external positioning signal. The
axis will be moved the External Positioning
Move Distance and decelerate to a stop.
Positioning completed.
• IB
Execute NOP motion command.
• Set OW
* If the Position Reference Type (OB
before executing the command.
8-10
Execution Conditions
46
10
03
01
08 to 2.
∗
1C
08 will be 2 during positioning.
098 will turn ON.
08 to 0.
Both IL
IB
IW
Speed
%
100%
04
0
acceleration time
Latch signal
(external positioning signal)
• The target position can be changed while the axis is moving.
• The target position cannot be changed after the external
positioning signal is input.
• The positioning speed can be changed while the axis is moving.
• An override of between 0% to 327.67% can be set for the position-
ing speed.
• Set OB 090 to 1 to hold the command.
• Set OB 091 to 1 or execute the NOP motion command to abort
the command.
• A latch zone can be set as long as it is supported by the
SERVOPACK being used.
095) is set for an absolute mode, the target position can be set
Confirmation Method
02 and IL 04 are 0.
001 is ON.
08 is 0 and IB 090 is OFF.
Rated speed
Positioning
speed
Linear
Linear deceleration time
External positioning
move distance
Time
t