Yaskawa JAPMC-MC2300 - Manual (Page 213)

7.2 Motion Command Details
7.2.9 Speed Reference (VELO)
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Motion Commands
7.2.9 Speed Reference (VELO)
The VELO command is used to operate the SERVOPACK in the speed control mode.
( 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 VELO command.
2.
Set the following motion setting parameters.
Speed Reference Setting: OL 10
Positive Side Limiting Torque/Thrust Setting at the Speed Reference: OL 14
Filter Type Selection: OW 03, bits 8 to B
The Speed Reference can be changed during operation.
An override of between 0% to 327.67% can be set for the reference speed.
3.
Set OW 08 to 23 to execute the VELO motion command.
The control mode in the SERVOPACK will be switched to speed control.
IW
08 will be 23 during command execution.
This command can be executed even when the Servo is OFF.
Position management using the position feedback is possible during operation with speed control mode.
4.
Execute another motion command to cancel the speed control mode.
( 2 ) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted. A command is
held by setting the Holds A Command bit (OW
09, bit 0) to 1.
• Set the Holds A Command bit (OW 09, bit 0) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Command Hold Completed bit (IW 09, bit 1) will turn ON.
• Reset the Holds A Command bit (OW 09, bit 0) to 0.
The command hold status will be cleared and the remaining portion of the operation will be restarted.
No. Execution Conditions Confirmation Method
1 There are no alarms. IL 04 is 0.
2 Motion command execution has been completed. * IW 08 is 0 and IW 09, bit0 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)
100(%)
0
Positioning Completed
(IW
0C, bit 1)
Position control
mode
Speed control
mode
Position cont
mode
VELO Operation Pattern