7
Motion Commands
7.2.22
Speed Reference (VELO)
7-80
7.2.22 Speed Reference (VELO)
With the MECHATROLINK-II, the VELO command is used to operate the SERVOPACK in the
speed control mode for the same type of operation as when using the analog speed reference input of
the SERVOPACK.

The VELO command is stipulated in MECHATROLINK-II command specifications and cannot be
used for MECHATROLINK-I.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set the following motion setting parameters.
Speed Reference setting: OL

10
Torque Limit setting: OL

14
Acceleration/Deceleration Filter Type: OW

03
Speed Loop P/PI Switch: OW

01

The speed reference bit OL

10 can be changed during operation.

An override of between 0% to 327.67% can be set for the reference speed.
3.
Set OW

08 to 23 to execute the VELO motion command.
The control mode in the SERVOPACK will be switched to speed control.
IW

08 will be 23 during command execution.

This command can be executed even when the Servo is OFF.

Position management using the position feedback is possible during operation with speed
control mode.
4.
Execute another motion command to cancel the speed control mode.
( 2 ) Holding
Holding execution is not possible during VELO command operation. The Command Pause bit
(OB

090) is ignored.
R
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
0
Speed (%)
Time (t)
VELO Operating Pattern
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