7.2
Motion Command Details
7-49
( 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 (OB

090) bit to 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.
• Turn OFF the Command Pause bit (OB

090).
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 canceled by aborting
execution of a command. A command is aborted by setting the Command Abort bit (OB

091) to
1.
• Set the Command Abort bit (OB

091) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Positioning Completed bit (IB

0C1) 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
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 8.
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
Set the speed unit, acceleration/deceleration unit, and filter type.
OW

08
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.
OB

090
Command Pause
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.
OB

091
Command Abort
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 (OB

095)
when turning ON after decelerating to a stop.
OB

092
JOG/STEP Direction
Set the travel direction for STEP operation.
0: Positive direction, 1: Negative direction
OB

095
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW

08) to 8.
OL

10
Speed Reference
Specify the speed for the positioning operation. This setting can be changed
during operation. The unit depends on the setting of the Function 1 (OW

03).
OW

18
Speed Override
This parameter allows the travel speed to be changed without changing the Speed
Reference (OL

10).
Set the value as a percentage of the Speed Reference. 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
Positioning
Completed Width
Set the width in which to turn ON the Positioning Completed bit (IB

0C1).
−
R
R
R
R
R
R
R
R
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