Yaskawa MP2200 Machine Controller - Manual (Page 235)

5.2 Motion Command Details
5-5
( 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 Command Pause bit (OB††090) to 1.
1. Set the Command Pause bit (OB††090) to 1. The axis will decelerate to a stop.
When the axis has stopped, the Command Hold Completed bit (IB††091) will turn
ON.
2. Reset the Command Pause bit (OB††090) to 0. The command hold status will be
cleared and the remaining portion of the positioning will be restarted.
( 3 ) Aborting
Axis travel can be stopped during command execution and the remaining travel 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 axis has stopped, the remain travel will be canceled and the Positioning
Completed bit (IB††01C) will turn ON.
2. The positioning 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 axis
movement.
( 4 ) Related Parameters
[ a ] Setting Parameters
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
Turn ON the power before setting the Motion Command (OW††08) to 1.
OB††013
Speed Loop
P/PI Switch Switch the speed control loop between PI control and P control.
0: PI control, 2: P control
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW††08 Motion Command
The positioning starts when this parameter is set to 1. The operation will be canceled
if this parameter is set to 0 during POSING command execution.
OB††090 Command Pause
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution. The positioning will restart if this bit is reset to 0 when a command is being
held.
OB††091 Command Abort
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution. When this bit is reset to 0 after stopping, the operation depends on the
setting of the Position Reference Type (OB††095).
OB††095
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW††08) to 1.
OL††10 Speed Reference
Specify the speed for the positioning. This setting can be changed during operation.
The unit depends on the setting of OW††03.