YASKAWA MP2000 Series User Manual page 203

7.2 Motion Command Details
7.2.6 JOG Operation (FEED)
( 3 ) Aborting
Axis travel can be stopped during FEED command execution by aborting execution of a command. A command is
aborted by setting the Interrupt A Command bit (OW09, bit 1) to 1.
• Set the Interrupt A Command bit (OW09, bit 1) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Positioning Completed bit (IW0C, bit 1) will turn ON.
• The JOG operation will restart if the Interrupt A Command bit (OW09, bit 1) is reset to 0 during abort
processing.
• This type of operation will also be performed if the motion command is changed to NOP during axis move-
ment.
( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW00
Bit 0
OW03
OW08
OW09
Bit 1
OW09
Bit 2
OL10
OW18
OL1E
OL20
OL36
OL38
OW3A
7-64
Name
Turns the power to the Servomotor ON and OFF.
Servo ON
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW08) to 7.
Function Setting 1
Set the speed unit, acceleration/deceleration unit, and filter type.
The JOG operation starts when this parameter is set to 7.
Motion Command
The axis is decelerated to a stop and the JOG operation is completed if this parameter
is set to 0 during the execution of a FEED command.
Interrupt A Command
The axis is decelerated to a stop if this bit is set to 1 during JOG operation.
Set the travel direction for JOG operation.
Moving Direction
0: Positive direction, 1: Negative direction
Specify the speed for the positioning. This setting can be changed during operation.
Speed Reference Setting
The unit depends on the Function Setting 1 (OW
This parameter allows the feed speed to be changed without changing the Speed Refer-
ence (OL10).
Set the speed as a percentage of the Speed Reference Setting. This setting can be
Override
changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Width of Positioning
Set the width in which to turn ON the Positioning Completed bit (IW0C, bit 1).
Completion
Set the range in which the NEAR Position bit (IW0C, bit 3) will turn ON.
NEAR Signal Output
The NEAR Position bit will turn ON when the absolute value of the difference
Width
between the reference position and the feedback position is less than the value set here.
Straight Line
Acceleration/
Set the feed acceleration in acceleration rate or acceleration time.
Acceleration Time
Constant
Straight Line
Deceleration/
Set the feed deceleration in deceleration rate or deceleration time.
Deceleration Time
Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/decel-
eration or a moving average filter can be selected in the Function Setting 1
Filter Time Constant
(OW03, bits 8 to B).
Change the setting only after pulse distribution has been completed for the command
(IW0C, bit 0 is ON).
Setting

03, bits 0 to 3).