Yaskawa MP2200 Machine Controller - Manual (Page 330)

5 Motion Commands
5.2.22 Speed Reference (VELO)
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[ b ] Error End
5.2.22 Speed Reference (VELO)
With the MECHATROLINK-II, the VELO command is used to operate the SERVOPACK under the
speed control mode, enabling the same type of operation as is possible with 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 ) Operating Procedure
( 2 ) Holding
Holding execution is not possible during VELO command operation. The Command Pause bit
(OB††090) is ignored.
OW 08 = 22 (ABS_RST)
IW 08 = 22 (ABS_RST)
IW 090 (BUSY)
IW 095 (FAIL)
IW 097 (ABS_RSTC)
IW 098 (COMPLETE)
IW 000 (SVCRDY)
Undefined length
of time
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Set the motion setting parameters.
• Speed Reference setting: OL††10
• Torque Limit setting: OL††14
• Acceleration/Deceleration Filter Type:
OW††03
• Speed Loop P/PI Switch: OW††01
• Position management using the position feedback is possible during
operation with speed control mode.
• The speed can be changed during operation.
• An override of between 0% to 327.67% can be set for the reference
speed.
• This command can be executed even when the Servo is OFF.
• The Command Pause (OB††090) cannot be used.
• Set OB††091 to 1 to abort execution.
Execute the VELO motion command.
• Set OW††08 to 23.
The control mode in the SERVOPACK is
switched to speed control.
• IW††08 will be 23 during execution.
Operation under speed control mode
Execute another motion command to cancel the
speed control mode.
Speed
(%)
Time (t)
0