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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