YASKAWA MP2100 Series - Page 359

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
11-20
(2) External Positioning (EX_POSING)
The latch function cannot be used for the SVR. EX_POSING thus performs the same operation as the POSING
command.
(a) Operating Procedure
* If the Position Reference Type (OB

095) is set for an absolute mode, the target position can be set
before executing the command.
Note: The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL

OE)
• Target Position (CPOS) (IL

10)
• Machine Coordinate System Position (MPOS) (IL

12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL

16): APOS is always equal to CPOS.
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.
Set the motion setting parameters.
• Positioning Speed: OL

10
• Acceleration/Deceleration Filter Type:
OW

03
• The target position can be changed while the axis is moving.
• The positioning speed can be changed while the axis is moving.
• Set OB

090 to 1 to pause the command.
• Set OB

091 to 1 or execute the NOP motion command to abort
the command.
Execute the External Positioning
(EX_POSING) motion command.
• Set OW

08 to 2.
Set the target position.
• Target Position Setting: OL

1C *
Positioning starts.
• IW

08 will be 2 during positioning.
Position proximity reached.
• IB

0C3 will turn ON.
Positioning completed.
• IB

0C1 will turn ON.
Execute NOP motion command.
• Set OW

08 to 0.
Linear acceleration time
Linear deceleration time
Feed speed
Rated speed
100%
0
Speed (%)
Time (t)
OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)
Position
Reference