YASKAWA Sigma-7-Series Product Manual page 78

4.2 Setup Procedure
4.2.5 Servo Commands to Use
 When External Positioning Final Travel Distance Is Positive
For forward movement, positioning is performed with forward movement (in the same direction)
after latching the position.
For reverse movement, positioning is performed with forward movement (in the opposite direc-
tion) after latching the position.
 When External Positioning Final Travel Distance Is Negative
For forward movement, positioning is performed with reverse movement (in the opposite direc-
tion) after latching the position.
For reverse movement, positioning is performed with reverse movement (in the same direction)
after latching the position.
Positioning for Origin Return Operation
If you enable the rotational coordinate system and execute an Zero Point Return command
(ZRET), positioning is performed within the range of the rotational coordinate system to the ori-
gin after latching the position. The final travel distance after latching the position is set in
PnB0C (External Positioning Final Travel Distance).
The calculation method to the origin is the same as for external input constant-speed feeding
(EX_FEED) and external input positioning (EX_POSING).
The movement direction after latching the position is determined by the sign of the value set in
PnB0C (External Positioning Final Travel Distance).
 When External Positioning Final Travel Distance Is Positive
For forward movement, positioning is performed with forward movement (in the same direction)
after latching the position.
For reverse movement, positioning is performed with forward movement (in the opposite direc-
tion) after latching the position.
 When External Positioning Final Travel Distance Is Negative
For forward movement, positioning is performed with reverse movement (in the opposite direc-
tion) after latching the position.
For reverse movement, positioning is performed with reverse movement (in the same direction)
after latching the position.
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