YASKAWA MP2200

8.3
Motion Commands
8-21
( 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

0E)
• 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 hold 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

C1 will turn ON.
Execute NOP motion command.
• Set OW

08 to 0.
100%
0
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)
Linear acceleration
time
Linear deceleration
time
Position
reference
Feed speed
Rated speed
Speed (%)
Time (t)
WWW.NNC.IR