YASKAWA MP2000 Series User Manual page 207

7.2 Motion Command Details
7.2.7 STEP Operation (STEP)
( 3 ) Aborting
Axis travel can be stopped during command execution and the remaining travel canceled 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 remain travel will be canceled and the Positioning Completed bit (IW0C,
bit 1) will turn ON.
• 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 0
OW09
Bit 1
OW09
Bit 2
OW09
Bit 5
OL10
OW18
OL1E
OL20
OL36
OL38
OW3A
OL44
7-68
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 8.
Function Setting 1
Set the speed unit, acceleration/deceleration unit, and filter type.
The STEP operation starts when this parameter is set to 8.
Motion Command
The axis will decelerate to a stop and the STEP operation is completed if this parameter
is set to 0 during STEP command execution.
The axis will decelerate to a stop if this bit is set to 1 during STEP operation.
Holds A Command
The operation will restart if this bit is reset to 0 when a command is being held.
The axis will decelerate to a stop if this bit is set to 1 during the positioning. When this
Interrupt A Command
bit is reset to 0 after decelerating to a step, the operation depends on the setting of the
Position Reference Type (OW09, bit 5).
Set the travel direction for STEP operation.
Moving Direction
0: Positive direction, 1: Negative direction
Select the type of position reference.
Position Reference
0: Incremental addition mode, 1: Absolute mode
Type
Set this bit before setting the Motion Command (OW08) to 8.
Speed Reference
Specify the speed for the positioning. This setting can be changed during operation. The
Setting
unit depends on the setting of the Function Setting 1 (OW03, bits 0 to 3).
This parameter allows the positioning speed to be changed without changing the Speed
Reference Setting (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 between
Width
the reference position and the feedback position is less than the value set here.
Straight Line
Acceleration/
Set the positioning acceleration in acceleration rate or acceleration time.
Acceleration Time
Constant
Straight Line
Deceleration/
Set the positioning deceleration in deceleration rate or deceleration time.
Deceleration Time
Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/decelera-
tion or a moving average filter can be selected in the Function Setting 1 (OW03,
Filter Time Constant
bits 8 to B).
Change the setting only after pulse distribution has been completed for the command
(IW0C, bit 0 is ON).
STEP Travel Distance
Set the moving amount for STEP operation.
Setting