Velocity Control Command (Velctrl: 3Ch) - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.15 Velocity Control Command (VELCTRL: 3Ch)

3.2.15 Velocity Control Command (VELCTRL: 3Ch)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3-48
2, 3
Within
communication
cycle
VELCTRL
Command Response
3Ch 3Ch
WDT RWDT
CMD_CTRL CMD_STAT
SVCMD_CTRL SVCMD_STAT
SVCMD_IO SVCMD_IO
CPRM_SEL_
TFF
MON1
CPRM_SEL_
VREF
MON2
ACCR MONITOR1
DECR MONITOR2
TLIM MONITOR3
Command Servo standard
command
Classification
Subcommand
Description
• The VELCTRL command sends the speed reference to a
slave station to perform speed control. The slave station
performs speed control directly without position control.
• To cancel the speed control, set the speed reference as
VREF = 0 or set SVCMD_CTRL.CMD_CANCEL to "1."
• To pause the speed control, set SVCMD_C-
TRL.CMD_PAUSE to "1."
• Confirm the completion of the command execution by
checking that RCMD = VELCTRL (= 3Ch) and
CMD_STAT.CMDRDY = 1.
• Confirm the completion of command execution canceling
by checking that CMD = VELCTRL (= 3Ch),
CMD_STAT.CMDRDY = 1, and SVCMD_STAT.CMD_-
CANCEL_CMP = 1.
• Confirm the arrival of the feedback speed at the speed ref-
erence (VREF) by checking that SVCMD_IO.V_CMP = 1.
• Confirm the completion of pausing of the command by
checking that RCMD = VELCTRL (= 3Ch),
CMD_STAT.CMDRDY = 1 and SVCM-
D_STAT.CMD_PAUSE_CMP = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters.
<Notes on using the command>
• VREF (Velocity reference):
Set the speed reference with a signed value.
• TFF (torque feedforward):
Set the torque feedforward value with a signed value.
Use it as a torque feedforward function.
• ACCR (acceleration):
Set the acceleration with an unsigned value.
• DECR (deceleration):
Set the deceleration with an unsigned value.
• TLIM (torque limit):
Set the torque limit with an unsigned value.
• Refer to the following section for the above reference data.
3.2.19 Motion Command Data Setting Method on page
3-52.
• Refer to the following section for the reference value
units in the command area.
2.7.2 Specifying Units on page 2-27.
• If the command is sent in the servo OFF state (SVON =
0), the command becomes effective next time the servo
ON state (SVON = 1) is established.
In the following case, an alarm will occur and the com-
mand will not be executed.
• When the ACCR or DECR data is invalid:
CMD_ALM = 9h (A.94B)
In the following cases, an alarm will occur and the relevant
value will be clamped at the limit value.
• When the VREF data is invalid:CMD_ALM = 1h (A.94B)
• When the TLIM data is invalid:CMD_ALM = 1h (A.97B)
Asynchronous
command
Can be used