7.2
Motion Command Details
7-5
7.2 Motion Command Details
The following describes the procedure for executing motion commands.

All the following command names and items in the Parameter List displaying an are supported
by the Virtual Motion Module (SVR).
7.2.1 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.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set the following motion setting parameters.
Speed Reference: OL

10
Acceleration/Deceleration Filter Type: OW

03
Speed Loop P/PI Switch: OW

01
 The speed reference can be changed during operation.

An override of between 0% to 327.67% can be set for the speed reference.
3.
Set OW

08 to 1 to execute the POSING motion command.
4.
Set the target position (OL

1C).
Positioning will start. IW

08 will be 1 during the positioning.
IB

0C3 will turn ON when the axis approaches the target position.
IB

0C1 will turn ON when the axis reaches the target position and the positioning has been
completed.

If the Position Reference Type (OB

095) is set for an absolute mode, the target position
can be set before executing the command.

The 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.
5.
Set OW

08 to 0 to execute the NOP motion command to complete the positioning
operation.
R
R
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 The Servo ON condition.
IB

001 is ON.
3 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
POSING Operating Pattern
Speed
(100%)
0
Positioning
speed
Rated speed
(%)
Position
Reference
Linear
acceleration time
(t)
Time
Linear
deceleration time
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