Table of Contents
8.2 Positioning (POSING)
The POSING command positions the axis to the target position using the specified target position and speed.
Parameters related to acceleration and deceleration are set in advance.
The speed and target position can be changed during operation. When the target position is changed so that there
is not sufficient deceleration distance or after the new target position has already been passed, the system will
first decelerate to a stop and then reposition according to the new target position.
(1) Operating Procedure
No.
1
There are no alarms.
2
The Servo ON condition.
3
Motion command execution has been completed.
Set the motion setting parameters.
• Positioning Speed: OL
• Acceleration/Deceleration Filter Type:
OW
03
• Speed Loop P/PI Switch: OW
Execute the positioning (POSING) motion
command.
• Set OW
08 to 1.
Set the target position.
• Target Position Setting: OL
Positioning starts.
• IW
08 will be 1 during positioning.
Position proximity reached.
• IB
0C3 will turn ON.
Positioning completed.
• IB
0C1 will turn ON.
Executed NOP motion command.
• Set OW
08 to 0.
* If the Position Reference Type (OB
before executing the command.
(2) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted. A com-
mand is held by setting the Command Pause bit (OB
1. Set the Command Pause bit (OB
stopped, the Hold Completed bit (IB
2. Reset the Command Pause bit (OB
ing portion of the positioning will be restarted.
Execution Conditions
Speed
10
%
100%
01
• The target position can be changed while the axis is moving.
∗
1C
• The positioning speed can be changed while the axis is moving.
• An override of between 0% to 327.67% can be set for the position-
ing speed.
• Set OB
• Set OB
the command.
095) is set for an absolute mode, the target position can be set
090) to 1. The axis will decelerate to a stop. When the axis has
091) will turn ON.
090) to 0. The command hold status will be cleared and the remain-
Confirmation Method
Both IL
02 and IL
IB
001 is ON.
IW
08 is 0 and IB
Rated speed
Positioning
speed
Position
reference
0
Linear
acceleration time
090 to 1 to hold the command.
091 to 1 or execute the NOP motion command to abort
090) to 1.
8.2 Positioning (POSING)
04 are 0.
090 is OFF.
Time
t
Linear
deceleration time
8
8-5
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