Motion Command Details - YASKAWA MP2100 Series User Manual

11 SVR Virtual Motion Module

11.3.2 Motion Command Details

11.3.2 Motion Command Details
Basically, the SVR provides functions to loop from a Motion Command (OW
Type Response (IW
For positioning-related motion commands, the SVR updates position information toward the final target position
using a positioning function.
(1) Positioning (POSING)
The 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.
The speed and target position can be changed during operation. When the target position is changed so that there
is not sufficient deceleration distance or after the new target position has already been passed, the system will
first decelerate to a stop and then reposition according to the new target position.
(a) 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.
• Positioning Speed: OL
• Acceleration/Deceleration Filter Type:
OW
Execute the positioning (POSING) motion
command.
• Set OW
Set the target position.
• Target Position Setting: OL
Positioning starts.
• IW
Position proximity reached.
• IB
Positioning completed.
• IB
Execute NOP motion command.
• Set OW
* If the Position Reference Type (OB
before executing the command.
Note: The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL
• Target Position (CPOS) (IL
• Machine Coordinate System Position (MPOS) (IL
• Machine Coordinate Feedback Position (APOS) (IL
11-18
08).
Execution Conditions
10
03
08 to 1.
1C*
08 will be 1 during positioning.
0C3 will turn ON.
0C1 will turn ON.
08 to 0.
Both IL
IB
IW
Speed (%)
100%
OW 08 = 1 (POSING)
IW 08 = 1 (POSING)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
• The target position can be changed while the axis is moving.
• The positioning speed can be changed while the axis is moving.
• Set OB 090 to 1 to hold the command.
• Set OB x091 to 1 or execute the NOP motion command to
abort the command.
095) is set for an absolute mode, the target position can be set
OE)
10)
12): MPOS is always equal to CPOS.
16): APOS is always equal to CPOS.
08) to the Servo Command
Confirmation Method
02 and IL 04 are 0.
001 is ON.
08 is 0 and IB 090 is OFF.
Rated speed
Feed speed
Position
Reference
0
Linear acceleration time
Time (t)
Linear deceleration time