3 ) aborting, 4 ) related parameters – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual

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6.2 Motion Command Details

6.2.7 Relative Position Mode (STEP) (Step Mode)

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Motion Commands

( 3 ) Aborting

Axis travel can be stopped during command execution and the remaining travel canceled 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.

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

SVR

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 8.

Bit 3

Speed Loop P/PI
Switch

Switch the speed control loop between PI control and P control.
0: PI control, 1: P control

−

Function Setting 1

Set the speed unit, acceleration/deceleration units, and filter type.

Motion Command

The STEP operation starts when this parameter is set to 8.
The axis will decelerate to a stop and the JOG operation is completed if this
parameter is set to 0 during STEP command execution.

Bit 0

Holds a Command

The axis will decelerate to a stop if this bit is set to 1 during STEP operation.
The operation will restart if this bit is turned OFF when a command is being held.

Bit 1

Interrupt a Command

The axis will decelerate to a stop if this bit is set to 1 during the positioning. The
operation depends on the setting of the Position Reference Type (OW

09, bit

5) when turning ON after decelerating to a stop.

Bit 2

Moving Direction
(JOG/STEP)

Set the travel direction for STEP operation.
0: Positive direction, 1: Negative direction

Speed 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 setting of
the Function 1 (OW

03, bits 0 to 3).

Override

This parameter allows the travel speed to be changed without changing the Speed
Reference Setting (OL

10).

Set the value 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

−

Width Positioning
Completion

Set the width in which to turn ON the Positioning Completed bit (IW

0C, bit

1).

−

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.

−

Straight Line Acceler-
ation/Acceleration
Time Constant

Set the positioning acceleration in acceleration rate or acceleration time.

Straight Line Deceler-
ation/Deceleration
Time Constant

Set the positioning deceleration in deceleration rate or deceleration time.

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 com-
mand (IW

0C, bit 0 = 1).

Step Travel Distance

Set the moving amount for STEP operation.

−