External Positioning (Ex_Posing) - YASKAWA JEPMC-MP2300-Y Series User Manual

7.2.2 External Positioning (EX_POSING)

The EX_POSING command positions the axis to the target position using the specified target posi-
tion 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 ) Executing/Operating Procedure
No.
1 There are no alarms.
2 The Servo ON condition.
3 Motion command execution has been completed.
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
2.
Set the following motion setting parameters.
External Positioning Move Distance: OL
External Positioning Signal: OW
Speed Reference: OL
Acceleration/Deceleration Filter Type: OW
Speed Loop P/PI Switch: OW
Target Position: OL
The positioning speed (speed reference) can be changed during operation.
An override of between 0% to 327.67% can be set for the positioning speed.
The target position can be changed while the axis is moving. The target position cannot be
changed after the external positioning signal is input.
A latch zone can be set as long as it is supported by the SERVOPACK being used.
3.
Set OW 08 to 2 to execute the EX_POSING motion command to use the preceding
settings in the same scan.
4.
Turn ON the external positioning signal.
The axis will be moved the External Positioning Move Distance and decelerate to a stop.
IB 098 will turn ON when the axis stops and external positioning has been completed.
5.
Set OW 08 to 0 to execute the NOP motion command to complete the external
R
Both IL
IB 001 is ON.
IW 08 is 0 and IB
46
04
10
03
01
1C
7.2 Motion Command Details
Confirmation Method
02 and IL 04 are 0.
090 is OFF.
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