YASKAWA SVC User Manual page 152

Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Name
Address
OW00
Servo ON
Bit 0
OW01 Speed Loop P/PI
Bit 3 Switch
OW02
Stop Mode Selection
Bits 8 to F
OW03 Function Settings 1
OW08 Motion Commands
OW09
Hold Command
Bit 0
OW09
Cancel Command
Bit 1
OW09 Position Reference
Bit 5 Type
Speed Reference Set-
OL10
ting
OW12 Speed Limit
OL14 Torque/Force Limit
OW18 Override
Position Reference
OL1C
Setting
Positioning Comple-
OL1E
tion Width
NEAR Signal Output
OL20
Width
Setting Details
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 1 (POSING).
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and
P control.
0: PI control, 1: P control
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration Time
Constant parameter
1: Stop immediately
Select the speed unit, acceleration/deceleration unit, and filter type.
Positioning is started when this parameter is set to 1 (POSING).
Set this parameter to 0 (NOP) during positioning to cancel the posi-
tioning operation.
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.
If this bit is set to 1 (ON) during positioning, the axis will decelerate to
a stop.
If this bit is set to 0 (OFF) after decelerating to a stop, the operation
will depend on the setting of bit 5 in OW09.
Set the position reference type.
Set this bit before setting OW08 to 1 (POSING).
0: Incremental value addition method
1: Absolute value specification method
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.
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.
Set the torque limit for positioning.
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
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.
Set this parameter to the value for which bit 1 in IW0C will
change to 1 (Within positioning completed range).
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.
4.2 Motion Command Details
4.2.1 POSING (Positioning)
Continued on next page.
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