6.2 Motion Command Details
6.2.2 Latch Target Positioning (EX_POSING) (External Positioning)
6-14
( 5 ) Timing Charts
With an External Position command (EX_POSING), the value for the External Positioning Final Travel Distance
(OL
46) is written to the parameters of the SERVOPACK before the axes move. For this reason, a slight time lag
occurs before the axes start moving.
[ a ] Normal Execution
* Latch signal: Phase-C pulse, EXT1, EXT2, or EXT3 signal
IW
09
Bit 8
Command
Execution
Completed
Turns ON when EX_POSING command execution has been completed.
IW
0C
Bit 0
Discharging
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IW
0C
Bit 1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the Width of Positioning Completion. OFF in all other cases.
IW
0C
Bit 2
Latch Complete
This bit turns OFF when a new latch command is executed and turns ON when the
latch has been completed. The latched position is stored as the Machine Coordinate
System Latch Position (LPOS) (monitoring parameter IL
18).
−
IW
0C
Bit 3
NEAR Position
The operation depends on the setting of the NEAR Signal Output Width (setting
parameter OL
20).
OL
20 = 0:Turns ON when pulse distribution has been completed (DEN = ON).
Otherwise, it turns OFF.
OL
20
≠
0:Turns ON when
the absolute value of the difference between MPOS
(IL
12) and APOS (IL
16) is less than the NEAR Signal Out-
put Width even if pulse distribution has not been completed.
OFF in all other cases.
IL
18
Machine Coordi-
nate System Latch
Position (LPOS)
Stores the current position in the machine coordinate system when the latch signal
turned ON.
−
(cont’d)
Parameter
Name
Monitor Contents
SVR
R
R
R
R
OW
08 = 2 (EX_POSING)
IW
08 = 2 (EX_POSING)
IW
09, bit 0 (BUSY)
Undefined length of time
IW
09, bit 8 (COMPLETE)
IW
09, bit 3 (FAIL)
IW
0C, bit 0 (DEN)
(Phase-C, EXT1,2,3)
IW
0C, bit 1 (POSCOMP)
Latch signal*
IW
0C, bit 2 (LCOMP)
(Latch Completed)
1 scan
Travel distance
This position is stored. (IL
18)