YASKAWA MP2000 Series User Manual page 143

7.2 Motion Command Details
7.2.1 Positioning (POSING)
5.
Set OW
 Terminology: Command execution
When a command code is stored in the motion command register (OW
ing to that code is started. Used in describing motion command operations.
( 2 ) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted. A command is
held by setting the Holds A Command bit (OW09, bit 0) to 1.
• Set the Holds A Command bit (OW09, bit 0) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Command Hold Completed bit (IW09, bit 1) will turn ON.
• Reset the Holds A Command bit (OW09, bit 0) to 0. The command hold status will be cleared and the
remaining portion of the positioning will be restarted.
( 3 ) Aborting
Axis travel can be stopped during command execution and the remaining travel canceled by aborting execution of a
command. A command is aborted by setting the Interrupt A Command bit (OW09, bit 1) to 1.
• Set the Interrupt A Command bit (OW09, bit 1) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the remain travel will be canceled and the Positioning Completed bit (IW0C,
bit 1) will turn ON.
• The positioning will restart if the Interrupt A Command bit (OW09, bit 1) is reset to 0 during abort pro-
cessing.
• This type of operation will also be performed if the motion command is changed to NOP during axis move-
ment.
7-4
08 to 0 to execute the NOP motion command to complete the positioning operation.

POSING Operation Pattern
Speed
Rated Speed
100 (%)
Speed Reference
Setting
(OL
Position Reference Setting
(OL
0
Acceleration Time Constant
(OL 36)
NEAR Position
(IW 0C, bit 3)
Discharging Completed
(IW 0C, bit 0)
Positioning Completed
(IW 0C, bit 1)

10)
1C)
Time
Deceleration Time Constant
(OL 38)
08), execution of the motion command correspond-