YASKAWA SVC - Page 158

4.2 Motion Command Details
4.2.2 EX_POSING (External Positioning)
4
Motion Control Program Commands and Instructions
4-15
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW04
Bit 4 to 7
External Positioning
Signal Setting
Set the external positioning signal.
2: Phase-C pulse, 3: /EXT1, 4: /EXT2, 5: /EXT3
OW
08 Motion Commands
Positioning is started when this parameter is set to 2 (EX_POSING).
Set this parameter to 0 (NOP) during positioning to cancel the posi-
tioning operation.
OW09
Bit 0
Hold Command
If this bit is set to 1 (ON) during positioning, the axis will decelerate to
a stop.
The positioning operation is resumed if this bit is set to 0 (OFF) when
the axis is being held.
OW
09
Bit 1
Cancel Command
If this bit is set to 1 (ON) during positioning, the axis will decelerate to
a stop.
OW09
Bit 4
Latch Zone Enable
Use this bit to enable or disable the valid zone for the external posi-
tioning signal.
If the latch zone is enabled, the external positioning signal is ignored
if it is input outside of the latch zone.
0: Disabled, 1: Enabled
OW
09
Bit 5
Position Reference Type
Set the position reference type.
Set this bit before setting OW08 to 2 (EX_POSING).
0: Incremental value addition method
1: Absolute value specification method
OL
10
Speed Reference Set-
ting
Specify the positioning speed. This parameter can be changed
during operation.
The unit depends on the set value of bits 0 to 3 in OW03.
OW
12 Speed Limit
Set the upper speed limit as a percentage of the rated speed. This
value is an absolute value. It is used in both the forward and reverse
directions.
OL
14 Torque/Force Limit Set the torque limit for positioning.
OW
18 Override
This parameter allows the positioning speed to be changed without
changing the value of OL10. Set the value as a percentage of
the Speed Reference Setting. This parameter can be changed during
operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
OL1C
Position Reference Set-
ting
Set the target position for positioning. This parameter can be
changed during operation.
The meaning of the set value depends on the status of bit 5 in
OW09.
OL
1E
Positioning Completion
Width
Set this parameter to the value for which bit 1 in IW0C will
change to 1 (Within positioning completed range).
OL
20
NEAR Signal Output
Width
Set this parameter to the value for which bit 3 in IW0C will
change to 1 (Within near position range). Bit 3 changes to 1 when
the absolute value of the difference between the reference position
and the feedback position is within the range that is specified here.
OL
2A
Latch Zone Lower Limit
Setting
Set the boundary in the reverse direction of the area in which the
external positioning signal is valid.
OL
2C
Latch Zone Upper Limit
Setting
Set the boundary in the forward direction of the area in which the
external positioning signal is valid.
OL
36
Linear Acceleration
Rate/Acceleration Time
Constant
Set the positioning acceleration rate with the acceleration rate or the
acceleration time.
OL
38
Linear Deceleration
Rate/Deceleration Time
Constant
Set the positioning deceleration rate with the deceleration rate or the
deceleration time.
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Continued from previous page.
Register
Address
Name Setting Details