YASKAWA SVC - Page 160

4.2 Motion Command Details
4.2.2 EX_POSING (External Positioning)
4
Motion Control Program Commands and Instructions
4-17
Timing Charts
 Normal Execution
 Execution When Canceled
 Execution When Command Is Changed
For EX_POSING, the value of the OL46 setting parameter (External Positioning Final
Travel Distance) is written to SERVOPACK common parameter No. 83 (Final Travel for Exter-
nal Input Positioning). Therefore, there is a slight time lag before the axis starts moving (refer
to the items with asterisks (*) in the following figure).
Information
OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
1 scan
This position is reported. (IL18)
Travel distance
This interval is not constant.*
Latch signal
(phase-C pulse, EXT1, EXT2, or EXT3)
This interval is not constant.
IW0C Bit2 (LCOMP)
(Latch Completed)
OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
OW09 Bit 1 (ABORT)
1 scan
This interval is not constant.*
This interval is not constant.
1 scan
OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
This interval is not constant.*
This interval is not constant.