YASKAWA MP2100 Series User Manual page 359

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
(2) External Positioning (EX_POSING)
The latch function cannot be used for the SVR. EX_POSING thus performs the same operation as the POSING
command.
(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 External Positioning
(EX_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
11-20
Execution Conditions
10
03
08 to 2.
1C *
08 will be 2 during positioning.
0C3 will turn ON.
0C1 will turn ON.
08 to 0.
Both IL
IB
IW
Speed (%)
100%
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_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 pause the command.
• Set OB 091 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.
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