Yaskawa MP2200 Machine Controller - Manual (Page 331)

5.2 Motion Command Details
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( 3 ) Aborting
The speed control mode can be cancelled by aborting execution of a command. A command is
aborted by setting the Command Abort bit (OB††091) to 1.
1. Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop when
the Command Abort bit (OB††091) is set to 1. The abort processing will be
completed when the axis has decelerated to a stop.
2. The speed control mode operation will restart if the Command Abort bit (OB††091) is
reset to 0 during abort processing.
This type of operation will also be performed if the motion command is changed during operation
with speed control mode.
( 4 ) Related Parameters
[ a ] Setting Parameters
（ Note） : Parameters only for the SVB-01 Module.
Parameter Name Setting
OB††000 Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor will start to rotate when this bit is set to 1 under the speed control data mode.
OB††013
Speed Loop P/PI
Switch Switch the speed control loop between PI control and P control.
0: PI control, 1: P control
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW††08 Motion Command The mode is changed to speed control mode when this parameter is set to 23.
OB††090 Command Pause
The axis will decelerate to a stop if this bit is set to 1 during speed command
operation. The positioning operation will restart if this bit is set to 0 while the
command is being held.
OB††091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during operation.
OL††10 Speed Reference
Specify the speed. This setting can be changed during operation. The unit depends on
the setting of OW††03.
OL††14
Positive Side Limiting
Torque Setting at the
Speed Reference
Set the torque limit for the speed reference. The same value is used for both the
positive and negative directions.
OL††18 Speed Override
This parameter allows the motor speed to be changed without changing the Speed
Reference (OL††10). Set the speed as a percentage of the Speed Reference Setting.
This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
OL††36
Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for operation.
OL††38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for operation.
OW††3A
S-Curve Acceleration
Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW††03.
Change the setting only after pulse distribution has been completed for the command
(IB††0C0 is ON).