YASKAWA MP2000 Series User Manual page 213

7.2 Motion Command Details
7.2.9 Speed Reference (VELO)
( 3 ) Aborting
The VELO command can be canceled by aborting execution of a command. A command is aborted by setting the Inter-
rupt 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 in the speed control
mode. Once the axis stops, the control mode will change to the position control mode and the abort processing
will be completed.
• The VELO command will restart if the Interrupt A Command bit (OW09, bit 1) is reset to 0 during abort
processing.
• Setting the Interrupt A Command bit (OW09, bit 1) to 0 after the abort processing has been completed
will not restart the execution of VELO command.
• This type of operation will also be performed if the motion command is changed to NOP during operation
with speed control mode.
( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW00
Bit 0
OW03
OW08
OW09
Bit 0
OW09
Bit 1
OL10
OL14
OW18
OL36
OL38
OW3A
7-74
Name
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Servo ON
The motor will start to rotate when this bit is set to 1 under the speed control data
mode.
Function Setting 1
Set the speed unit, acceleration/deceleration unit, and filter type.
Motion Command
The mode is changed to speed control mode when this parameter is set to 23.
The axis will decelerate to a stop if this bit is set to 1 during speed command opera-
Holds A Command
tion.
The operation will restart if this bit is set to 0 while the command is being held.
Interrupt A Command
The axis will decelerate to a stop if this bit is set to 1 during operation.
Specify the speed. This setting can be changed during operation.
Speed Reference Setting
The unit depends on the Function Setting 1 (OW03, bits 0 to 3).
Positive Side Limiting
Set the torque limit for the speed reference. The same value is used for both the posi-
Torque/Thrust Setting at
tive and negative directions.
the Speed Reference
This parameter allows the motor 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
Straight Line Acceleration/
Acceleration Time
Set the linear acceleration rate or acceleration time.
Constant
Straight Line
Deceleration/
Set the linear 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