Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 206)

6.2 Motion Command Details
6.2.6 Jog Mode (FEED)
6-45
Motion Commands
( 3 ) Aborting
Axis travel can be stopped during FEED command execution by aborting execution of a command. A command is
aborted by setting the Interrupt 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.
• When the axis has stopped, the Positioning Completed bit (IW 0C, bit 1) will turn ON.
• The JOG operation will restart if the Interrupt a Command bit (OW 09, bit 1) is reset to 0 during abort pro-
cessing. *
This type of operation will also be performed if the motion command is changed during axis movement.
* Because a delay occurs when sending or receiving commands and responses to and from the CPU and the SVB
module, the abort processing may have been completed although an attempt was made to restart the JOG opera-
tion. In this case, IW
08 (Motion Command Response Code) is set to 7, and bit 8 (Command Execution Com-
pleted) of IW 09 (Motion Command Status) is set to 1. The JOG operation cannot be restarted under these
conditions.
To reset the JOG operation, set OW
08 (Motion Command) to any value other than 7 (such as NOP=0) and then
reset it to 7. If an operation is to be frequently aborted and restarted within a short interval, remember to take this
delay into consideration.
( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter Name Setting SVR
OW 00
Bit 0
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW
08) to 7.
OW 01
Bit 3
Speed Loop P/PI Switch
Switches the speed control loop between PI control and P control.
0: PI control, 1: P control
−
OW 03 Function Setting 1 Set the speed unit, acceleration/deceleration units, and filter type.
OW 08 Motion Command
The JOG operation starts when this parameter is set to 7.
The axis is decelerated to a stop and the JOG operation is completed if this
parameter is set to 0 during the execution of a FEED command.
OW 09
Bit 1
Interrupt a Command The axis is decelerated to a stop if this bit is set to 1 during JOG operation.
OW 09
Bit 2
Moving Direction (JOG/
STEP) Set the travel direction for JOG operation.
0: Positive direction, 1: Negative direction
OL 10
Setting Reference
Setting
Specify the speed for the positioning operation. Only a positive value can be
set. This setting can be changed during operation. The unit depends on the
Function Setting 1 setting (OW
03, bits 0 to 3).
OW 18 Override
This parameter allows the feed 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 changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
−
OL 1E
Width Positioning Com-
pletion Set the width in which to turn ON the Positioning Completed bit (IW 0C,
bit 1).
−
OL 20
NEAR Signal Output
Width
Set the range in which the NEAR Position bit (IW 0C, bit 3) will turn ON.
The NEAR Position bit will turn ON when the absolute value of the difference
between the reference position and the feedback position is less than the value
set here.
−
OL 36
Straight Line Accelera-
tion/Acceleration Time
Constant
Set the feed acceleration in acceleration rate or acceleration time.
OL 38
Straight Line Decelera-
tion/Deceleration Time
Constant
Set the feed deceleration in deceleration rate or deceleration time.
OW 3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function Setting 1
(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).
R
R
R
R
R
R
R
R
R