7.2
Motion Command Details
7-81
( 3 ) Aborting
The speed control mode can be 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. The abort
processing will be completed when the axis has decelerated to a stop.
• The speed control mode operation will restart if the Command Abort bit (OB
091) 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.
( 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
Moter will start to rotate when this bit is set to 1 under the speed control data
mode.
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 mode is changed to speed control mode when this parameter is set to 23.
OB
090
Command Pause
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.
OB
091
Command Abort
The axis will decelerate to a stop if this bit is set to 1 during operation.
OL
10
Speed Reference
Specify the speed. This setting can be changed during operation.
The unit depends on the setting of the Function 1 (OW
03).
OL
14
Positive Side Limiting
Torque 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.
−
OW
18
Speed Override
This parameter allows the motor speed to be changed without changing the
Speed Reference (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
−
OL
36
Linear Acceleration Time
Set the rate of acceleration or acceleration time for positioning.
OL
38
Linear Deceleration Time
Set the rate of deceleration or deceleration time for positioning.
OW
3A
S-Curve Acceleration
Time
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in the
Function 1 (OW
03).
Change the setting only after pulse distribution has been completed for the
command (IB
0C0 is ON).
R
R
R
R
R
R
R
R
R
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