YASKAWA SVC User Manual page 199

4.2 Motion Command Details
4.2.7 STEP (STEP Operation)
Operating Patterns
The following figure shows the operating pattern when the STEP command is executed.
STEP Operating Pattern
Speed (%)
(100%)
Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold
Command) in the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the
IW09 monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is
restarted.
Canceling
• To stop an axis during motion and cancel the remaining motion, set bit 1 (Cancel Command)
in the OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during axis motion.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Address

OW
Bit 0

OW
Bit 3
4-56
Rated speed
Feed Speed
STEP Travel
Distance
0
Linear Acceleration
Time Constant
(OL 36)
Name
00
Servo ON
01 Speed Loop P/PI
Switch
Time (t)
Linear Deceleration
Time Constant
(OL 38)
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 8 (STEP).
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
Setting Details
Continued on next page.