YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.2 Latch Target Positioning (EX_POSING) (External Positioning)
6-14
( 5 ) Timing Charts
 With an External Position command (EX_POSING), the value for the External Positioning Final Travel Distance
(OL46) is written to the parameters of the SERVOPACK before the axes move. For this reason, a slight time lag
occurs before the axes start moving.
[ a ] Normal Execution
* Latch signal: Phase-C pulse, EXT1, EXT2, or EXT3 signal
IW09
Bit 8
Command
Execution
Completed
Turns ON when EX_POSING command execution has been completed.
IW0C
Bit 0
Discharging
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IW0C
Bit 1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the Width of Positioning Completion. OFF in all other cases.
IW0C
Bit 2
Latch Complete
This bit turns OFF when a new latch command is executed and turns ON when the
latch has been completed. The latched position is stored as the Machine Coordinate
System Latch Position (LPOS) (monitoring parameter IL18).
−
IW0C
Bit 3
NEAR Position
The operation depends on the setting of the NEAR Signal Output Width (setting
parameter OL20).
OL20 = 0:Turns ON when pulse distribution has been completed (DEN = ON).
Otherwise, it turns OFF.
OL20
≠ 0:Turns ON when the absolute value of the difference between MPOS
(IL12) and APOS (IL16) is less than the NEAR Signal Out-
put Width even if pulse distribution has not been completed.
OFF in all other cases.
IL18
Machine Coordi-
nate System Latch
Position (LPOS)
Stores the current position in the machine coordinate system when the latch signal
turned ON.
−
(cont’d)
Parameter Name Monitor Contents SVR
R
R
R
R
OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IW09, bit 0 (BUSY)
Undefined length of time
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
(Phase-C, EXT1,2,3)
IW0C, bit 1 (POSCOMP)
Latch signal*
IW0C, bit 2 (LCOMP)
(Latch Completed)
1 scan
Travel distance
This position is stored. (IL18)

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English