Speed Reference (Velo) - YASKAWA JEPMC-MP2300-Y Series User Manual

7 Motion Commands

7.2.22 Speed Reference (VELO)

7.2.22 Speed Reference (VELO)
( 1 ) Executing/Operating Procedure
No.
1
2
( 2 ) Holding
7-80
R
With the MECHATROLINK-II, the VELO command is used to operate the SERVOPACK in the
speed control mode for the same type of operation as when using the analog speed reference input of
the SERVOPACK.
The VELO command is stipulated in MECHATROLINK-II command specifications and cannot be
used for MECHATROLINK-I.
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
There are no alarms.
Motion command execution has been completed.
2.
Set the following motion setting parameters.
Speed Reference setting: OL
Torque Limit setting: OL
Acceleration/Deceleration Filter Type: OW
Speed Loop P/PI Switch: OW
The speed reference bit OL
An override of between 0% to 327.67% can be set for the reference speed.
3.
Set OW 08 to 23 to execute the VELO motion command.
The control mode in the SERVOPACK will be switched to speed control.
IW 08 will be 23 during command execution.
This command can be executed even when the Servo is OFF.
Position management using the position feedback is possible during operation with speed
control mode.
4.
Execute another motion command to cancel the speed control mode.
VELO Operating Pattern
Speed (%)
0
Holding execution is not possible during VELO command operation. The Command Pause bit
(OB 090) is ignored.
Confirmation Method
Both IL 02 and IL
IW 08 is 0 and IB
10
14
03
01
10 can be changed during operation.
04 are 0.
090 is OFF.
Time (t)