Yaskawa JAPMC-MC2300 - Manual (Page 203)

7.2 Motion Command Details
7.2.6 JOG Operation (FEED)
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Motion Commands
7.2.6 JOG Operation (FEED)
The FEED command starts movement in the specified travel direction at the specified travel speed. Execute the NOP
motion command to stop the operation.
Parameters related to acceleration and deceleration are set in advance.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
* This condition is a basic execution condition. Refer to Chapter 8 Switching Commands during Execution on
page 8-1 when changing the command being executed to a FEED command.
2.
Set the following motion setting parameters.
Moving Direction: OW 09, bit 2
Speed Reference Setting: OL 10
Filter Type Selection: OW 03, bits 8 to B
The speed reference can be changed during operation.
3.
Set OW 08 to 7 to execute the FEED motion command.
JOG operation will start. IW 08 will be 7 during the execution.
4. Set OW 08 to 0 to execute the NOP motion command.
IW 0C, bit 1 turns ON and the JOG operation has been completed.
( 2 ) Holding
Holding execution is not possible during FEED command execution. The Holds A Command bit (OW 09, bit 0) is
ignored.
No. Execution Conditions Confirmation Method
1 There are no alarms. IL 04 is 0.
2 The Servo ON condition. IW 00, bit 1 is ON.
3 Motion command execution has been completed. IW 08 is 0 and IW 09, bit 0 is OFF.
Speed
Rated speed
Speed Reference
Setting
(OL 10)
Straight Line Acceleration/
Acceleration Time Constant
(OL 36)
Straight Line Deceleration/
Deceleration Time Constant
(OL 38)
Time
Discharging Completed
(IW
0C, bit 0)
Positioning Completed
(IW 0C, bit 1)
100(%)
0
FEED Operation Pattern