YASKAWA MP2100 Series User Manual page 367

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
(6) JOG Operation (FEED)
The FEED command starts movement in the specified travel direction at the specified travel speed. To stop the
operation, execute the NOP motion command. The axis will decelerate to a stop when the NOP motion command
is executed.
Parameters related to acceleration and deceleration are set in advance. The speed can be changed during axis
movement.
(a) Operating Procedure
No.
1 There are no alarms.
2 The Servo ON condition.
3
Motion command execution has been completed.
Set the motion setting parameters.
• Direction of Movement: OB
• Speed Reference: OL
• Acceleration/Deceleration Filter Type:
OW
Execute the JOG operation (FEED) motion
command.
• Set OW
JOG operation starts.
• IW
Execute NOP motion command.
• Set OW
Positioning completed.
• IB
Note: The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL
• Target Position (CPOS) (IL
• Machine Coordinate System Position (MPOS) (IL
• Machine Coordinate Feedback Position (APOS) (IL
11-28
Execution Conditions
092
10
03
08 to 7.
08 will be 7 during execution.
08 to 0.
0C1 will turn ON.
Both IL
IB 001 is ON.
IW
Speed (%)
100%
0
OW 08 = 7 (FEED)
IW 08 = 7 (FEED)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
• The travel speed can be changed during movement.
• The Command Pause (OB
• The axis will decelerate to a stop if the Command Abort
(OB 091) is set to 1 during execution.
OE)
10)
12): MPOS is always equal to CPOS.
16): APOS is always equal to CPOS.
Confirmation Method
02 and IL 04 are 0.
08 is 0 and IB 090 is OFF.
Rated speed
Feed speed
Position
(integral of
speed
reference)
Linear acceleration time Linear deceleration time
090) cannot be used.
Time (t)