Yaskawa MotionWorks+ Windows Software User Manual Page 144
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Block Reference MotionWorks+™
138
3.2.5 DEFINE POSITION
Definition
This block sets the current encoder location as the value specified in the Position
property. It does not cause motion. Select either the main or external encoder. This
block may take as long as the Low Scan Program time to complete and advance the
program counter, even if the block is in a High Scan Program. This block automatically
waits until the encoder value has been changed.
Note: It is not recommended to include the DEFINE POSITION block in a program loop
that repeatedly defines the position, because a small, cumulative position error will
result. The motor may move a slight amount between the time that the DEFINE
POSITON block runs and the hardware counter is changed.
Properties
Encoder: Select “Main” for the SGDH encoder, or “External” for a device
connected to the encoder input on the I/O connector of the
MP940. See the MP940 Machine Controller Hardware Manual
for details about external encoders.
Position: A number or variable in user units representing the new posi-
tion.
Required Conditions
The selected encoder must not be moving when this block is executed.
Additional Information
The virtual encoder will be defined along with the real encoder when External is
selected.
Property Default
Minimum
Value
Maximum
Value
Base Units
Run
Time
Encoder main External Main N/A No
Position 0 -2147483648 2147483647 encoder counts Yes
- Icon-Based Programming Manual 1
- MotionWorks+™ 4
- Contents 5
- Introduction 7
- 1. MotionWorks+™ 9
- 1.4 Creating A Project 12
- 1.5 Saving A Project 14
- 1.6 The Project Explorer 15
- Important Note!! 18
- 1.6.1 HMI Data 44
- File Data Format 46
- 1.7 Scope 57
- Properties 58
- Analog 1~4 58
- MotionWorks+™ Scope 59
- Scope MotionWorks+™ 60
- Scope Examples 63
- 1.8 The Block Toolbar 64
- 1.9 The Properties Window 65
- 1.10 The Program Window 66
- 11 12 13 14 67
- 1.11 Expression Builder 68
- Creating Expressions 69
- 1.12 Cross Reference 71
- 1.13 Search and Replace 72
- 1.15 Compiling A Program 77
- 1.16 Downloading a Project 78
- 1.18 Electronic Cam Tool 80
- 2. Gear Ratio 84
- 1.19 Archive 107
- Archive MotionWorks+™ 108
- 2.1 Programming Tools 109
- 3. Programming Concept 111
- Default I/O Names 113
- Table 1: Monitors (Continued) 115
- 0 0 1 configuration 117
- 3.1 User Unit Conversion 133
- 3.2 Block Reference 136
- MotionWorks+™ Block Reference 137
- 3.2.1 CALL SUBROUTINE 138
- 3.2.2 CAM 139
- Block Reference MotionWorks+™ 140
- 3.2.3 CAM SHIFT 141
- 3.2.4 CHANGE DYNAMICS 143
- 3.2.5 DEFINE POSITION 144
- 3.2.6 END 145
- 3.2.7 GEAR 146
- 3.2.8 GEAR RATIO 147
- 3.2.9 HOME AXIS 148
- 3.2.10 IF EVENT 150
- 3.2.11 IF FAULT 151
- 3.2.12 INPUT 152
- 3.2.13 JOG AXIS 153
- 3.2.14 LATCH 154
- Pn511.3 Settings 155
- 3.2.15 LATCH TARGET 156
- Position 158
- 3.2.16 LAUNCH PROGRAM 159
- 3.2.17 MOVE AXIS 160
- 3.2.18 PLS 162
- 3.2.19 RESET FAULT 164
- 3.2.20 SCALE CAM 165
- 3.2.21 SERVO 166
- 3.2.22 SET VARIABLE 167
- 3.2.23 SLAVE OFFSET 168
- 3.2.24 START 169
- 3.2.25 STOP MOTION 170
- 3.2.26 SUSPEND PROGRAM 171
- 3.2.27 TIMER 172
- 3.2.28 TORQUE 173
- Table Format 175
- Table Syntax 175
- Program #1 177
- Block #7 178
- Block #8 178
- Program #2 179
- Block #4 180
- Block #9 180
- B.1 Summary 184
- B.2 Programs 185
- Program Definition 185
- Program Guidelines 185
- Supervisor Program 186
- Manual Program 190
- Automatic Program 191
- B.3 Subroutines 192
- Jog + Subroutine 192
- Jog – Subroutine 193
- Home - Subroutine 194
- Move - Subroutine 195
- Gear - Subroutine 197
- Engaging/Disengaging 198
- Cam - Subroutine 199
- Engaging 200
- Disengaging 200
- Torque - Subroutine 202
- Latch - Subroutine 202
- Latch Target Block 203
- Local Input functionality 204
- Local Output Functionality 205
- System Variables 206
- Appendix C MW+ Camming 101 207
- 3. Resolution Considerations 209
- The Master 214
- The Slave 215
- Why is a window required? 216
- Performing a cam “one shot.” 219
- How does CAM SHIFT work? 220
- Cam Shift has the effect 222
- Ex pr e ssion 225
- INIT BLOCK 228
- SET BLOCK 229
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