YASKAWA S-7 Series Command Manual page 56

 Example of Pausing the VELCTRL Command
Communication cycle
CMD
ON
CMD_PAUSE
OFF
ON
CMD_PAUSE_CMP
OFF
ON
ZSPD
OFF
CMD_CANCEL (Canceling a Command Operation)
• CMD_CANCEL is used to interrupt motion command operation. (Motion command process-
ing is cleared.)
• CMD_CANCEL is valid only when the POSING, FEED, EX_FEED, EX_POSING, ZRET or
VELCTRL command is specified.
 Canceling Procedure
1.
The master station sets "1" for STOP_MODE and CMD_CANCEL and transmits one of
the motion commands given above.
2.
The slave station stops in accordance with STOP_MODE. When deceleration to a stop is
specified, the slave station decelerates its motion at the deceleration specified in DECR
of the command.
3.
"1" is set for CMD_CANCEL_CMP at the slave station in the following circumstances.
In the position control mode:When CMD_CANCEL and DEN become "1"
In the speed control mode:When CMD_CANCEL and ZSPD become "1"
Even after stopping, the slave station maintains the previous control mode.
• CMD_CANCEL is disregarded for commands for which CMD_CANCEL is not valid, and CMD_-
CANCEL_CMP remains OFF.
• When CMD_PAUSE and CMD_CANCEL are simultaneously turned ON or when CMD_CANCEL
is turned ON after CMD_PAUSE, CMD_CANCEL takes priority.
Note
• When using CMD_CANCEL, execute the relevant motion command continuously until CMD_-
CANCEL_CMP becomes "1."
• By setting "0" for CMD_CANCEL, the cancellation operation is canceled and the motion com-
mand is processed as a new motion command.
2.5.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL
VELCTRL
2.5 Command Header Section
2
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