YASKAWA MP2000 Series - Motion Command Details; Position Mode (POSING) (Positioning)

6.2 Motion Command Details
6.2.1 Position Mode (POSING) (Positioning)
6-5
Motion Commands
6.2 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).
6.2.1 Position Mode (POSING) (Positioning)
The POSING command positions the axis to the target position using the specified target position and speed. Parame-
ters related to acceleration and deceleration are set in advance.
When using an SGDV or SGD7S SERVOPACK, the torque limit can be set and changed during SERVOPACK opera-
tion. For details, refer to  Setting and Changing Torque Limit during SGDV or SGD7S SERVOPACK Operations of
4.4.2 ( 12 ).
( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
* This condition is a basic execution condition. Refer to Chapter 7 Switching Commands during Execution when
changing the command that is being executed to a POSING command.
2. Set the following motion setting parameters.
Speed Reference Setting: OL10
Filter Type Selection: OW03, bits 8 to B
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.
IW0C, bit 3 will turn ON when the axis approaches the target position.
IW0C, bit 1 will turn ON when the axis reaches the target position and the positioning has been completed.
 If the Position Reference Type (OW09, bit 5) 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.
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. IW00, bit 1 is ON.
3
Motion command execution has been completed.
*
IW08 is 0 and IW09, bit 0 is OFF.