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

6.2.22 Speed Reference (VELO)

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( 3 ) Aborting

The speed control mode can be 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. The abort process-

ing will be completed when the axis has decelerated to a stop.

• The speed control mode operation will restart if the Interrupt a Command bit (OW

09, bit 1) is reset to 0

during abort processing.

• This type of operation will also be performed if the motion command is changed during operation with speed

control mode.

* 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 operation in
speed control mode. In this case, IW

08 (Motion Command Response Code) is set to 23, and bit 8 (Command

Execution Completed) of IW

09 (Motion Command Status) is set to 1. The operation in speed control mode can-

not be restarted under these conditions.
To reset the operation in speed control mode, set OW

08 (Motion Command) to any value other than 23 (such as

NOP=0) and then reset it to 23. 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

Bit 0

Servo ON

Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor will start to rotate when this bit is set to 1 under the speed control data
mode.

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 mode is changed to speed control mode when this parameter is set to 23.

Bit 0

Holds a Command

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.

Bit 1

Interrupt a Command

The axis will decelerate to a stop if this bit is set to 1 during operation.

Speed Reference Setting

Specify the speed. This setting can be changed during operation.
The unit depends on the setting of the Function Setting 1 (OW

03, bits 0 to

3).

Positive Side Limiting
Torque/Thrust Setting at
the Speed Reference

Set the torque limit for the speed reference. The same value is used for both
the positive and negative directions.

−

Override

This parameter allows the motor 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

−

Straight Line Acceleration/
Acceleration Time
Constant

Set the linear acceleration rate or acceleration time.

Straight Line Decelera-
tion/Decelerate Time
Constant

Set the linear deceleration rate or deceleration time.

Filter Time Constant

Set the acceleration/deceleration filter time constant. Exponential accelera-
tion/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).