beautypg.com

2 ) holding, 3 ) aborting, 4 ) related parameters – Yaskawa MP2200 Machine Controller User Manual

Page 335

background image

5.2 Motion Command Details

5-105

( 2 ) Holding

Holding execution is not possible during TRQ command operation. The Command Pause bit
(OB††090) is ignored.

( 3 ) Aborting

The torque 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 torque 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 torque 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 torque will start to generate when the Servo is turned ON after switching to
Torque Control 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

SVB-01: Sets the speed unit, acceleration/deceleration unit, and filter type.
SVA-01: Sets the acceleration/deceleration unit and torque unit.

OW††08

Motion Command

The mode is changed to torque control when this parameter is set to 24.

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

A deceleration stop is performed when this bit set to 1 during operation.

OL††0C

Torque Reference

Set the torque reference. This setting can be changed during operation. The unit is
determined by OW††03.

OL††0E

Speed Limit at Torque
Reference

Set the speed limit for torque references. The speed limit is set as a percentage of
the rated speed.

OL††38

Linear Deceleration
Time

Set the rate of deceleration or deceleration time constant for positioning.

OW††3A

Filter Time Constant

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).

This manual is related to the following products: