YASKAWA MP2100 Series User Manual page 215

8 Motion Commands
(3) Aborting
Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution
of a command. A command is aborted by setting the Command Abort bit (OB
1. Set the Command Abort bit (OB
stopped, the remain travel will be canceled and the Positioning Completed bit (IB
2. The positioning will restart if the Command Abort bit (OB
This type of operation will also be performed if the motion command is changed during axis movement.
(4) Related Parameters
(a) Setting Parameters
Parameter
OB 000
OB 013
OW 03
OW 08
OB 090
OB 091
OB 095
OL 10
OL 18
OL 1C
OL 1E
OL 20
OL 36
OL 38
OW 3A
8-6
Name
Servo ON Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW
Speed Loop Switch the speed control loop between PI control and P control.
P/PI Switch
0: PI control, 1: P control
Function 1
Set the speed unit, acceleration/deceleration unit, and filter type.
Motion Command The positioning starts when this parameter is set to 1. The operation will be
canceled if this parameter is set to 0 during POSING command execution.
Command Pause The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution. The positioning will restart if this bit is reset to 0 when a command is
being held.
Command Abort The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution. When this bit is reset to 0 after stopping, the operation depends on the
setting of the Position Reference Type (OB
Position Reference Switch the type of position reference.
Type 0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW
Speed Reference Specify the speed for the positioning. This setting can be changed during
operation. The unit depends on the setting of OW
Speed Override This parameter allows the positioning speed to be changed without changing the
Speed Reference (OL
Reference Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Position Reference Set the target position for positioning. This setting can be changed during
Type
operation. The meaning of the setting depends on the status of OB
Positioning Set the width in which to turn ON the Positioning Completed bit (IB
Completed Width
Positioning Set the range in which the Position Proximity bit (IB
Completed Width 2
Position Proximity bit will turn ON when the absolute value of the difference
between the reference position and the feedback position is less than the value set
here.
Linear Acceleration Set the rate of acceleration or acceleration time constant for positioning.
Time
Linear Deceleration
Set the rate of deceleration or deceleration time constant for positioning.
Time
S-Curve Accelera- Set the acceleration/deceleration filter time constant. Exponential acceleration/
tion Time
deceleration or a moving average filter can be selected in OW
Change the setting only after pulse distribution has been completed for the
command (IB
091) to 1. The axis will decelerate to a stop. When the axis has
091) is reset to 0 during abort processing.
10). Set the speed as a percentage of the Speed
0C0 is ON).
091) to 1.
01C) will turn ON.
Setting
095).
08) to 1.
03.
0C3) will turn ON. The
03.
08) to 1.
095.
0C1).