YASKAWA SVC User Manual page 200

Register
Name
Address

OW 02
Stop Mode Selection
Bit 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 Travel Direction for
Bit 2 JOG/STEP
Speed Reference Set-

OL 10
ting

OW 12 Speed Limit

OL 14 Torque/Force Limit

OW 18 Override
Positioning Completion

OL 1E
Width
NEAR Signal Output

OL 20
Width
Linear Acceleration

OL 36 Rate/Acceleration Time
Constant
Linear Deceleration

OL 38 Rate/Deceleration Time
Constant

OW 3A Filter Time Constant

OL 44 STEP Travel Distance
 Monitor Parameters
Register
Name
Address

IW 00 Running with Servo
Bit 1 ON

IL 02 Warnings
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.
The STEP operation is started when this parameter is set to 8
(STEP).
Set this parameter to 0 (NOP) during a STEP operation to cancel the
STEP operation.
When this bit is set to 1 (ON) during a STEP operation, the axis will
decelerate to a stop.
The STEP 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 travel direction for the STEP operation.
0: Forward, 1: Reverse
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 interpolation 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 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.
Set the positioning acceleration rate with the acceleration rate or the
acceleration time.
Set the positioning deceleration rate with the deceleration rate or the
deceleration time.
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected
in bits 8 to B in OW03.
This setting can be changed only when distribution has been com-
pleted (i.e., when bit 0 in IW0C is 1).
Set the travel distance for the STEP operation.
Monitored Contents
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
This parameter reports the current warning status.
4.2 Motion Command Details
4.2.7 STEP (STEP Operation)
Continued from previous page.
Setting Details
Continued on next page.
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