YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.7 Relative Position Mode (STEP) (Step Mode)
6-49
Motion Commands
( 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 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.
• When the axis has stopped, the Positioning Completed bit (IW0C, bit 1) 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
OW00
Bit 0
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.
OW01
Bit 3
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 Setting 1
Set the speed unit, acceleration/deceleration units, 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.
OW09
Bit 0
Holds a Command
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.
OW09
Bit 1
Interrupt a Command
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 (OW09, bit
5) when turning ON after decelerating to a stop.
OW09
Bit 2
Moving Direction
(JOG/STEP)
Set the travel direction for STEP operation.
0: Positive direction, 1: Negative direction
OL10
Speed Reference
Setting
Specify the speed for the positioning operation. Only a positive value can be set.
This setting can be changed during operation. The unit depends on the setting of
the Function 1 (OW03, bits 0 to 3).
OW18 Override
This parameter allows the travel speed to be changed without changing the Speed
Reference Setting (OL10).
Set the value 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1E
Width Positioning
Completion
Set the width in which to turn ON the Positioning Completed bit (IW0C, bit
1).
−
OL20
NEAR Signal Output
Width
Set the range in which the NEAR Position bit (IW0C, bit 3) will turn ON.
The NEAR Position bit will turn ON when the absolute value of the difference
between the reference position and the feedback position is less than the value set
here.
−
OL36
S
traight Line Acce
ler-
ation/Acceleration
Time Constant
Set the positioning acceleration in acceleration rate or acceleration time.
OL38
Straight Line Deceler-
ation/Deceleration
Time Constant
Set the positioning deceleration in deceleration rate or deceleration time.
OW3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/
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 com-
mand (IW0C, bit 0 = 1).
OL44 Step Travel Distance
Set the moving amount for STEP operation.
−
R
R
R
R
R
R
R
R
R
R

YASKAWA MP2000 Series Specifications

General

Control Method	Digital Control
Communication Protocols	PROFIBUS-DP, MECHATROLINK-II
Programming Language	Structured Text
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C

Summary

Overview

SVB Module Overview and Features

Provides an overview and features of the SVB Module, including its capabilities and architecture.

Specifications

Details the hardware and general specifications of the SVB-01 Module.

Settings and Installation

LED Indicators and Switch Settings

Explains LED indicators, status indications, and switch settings for the SVB-01 Module.

Mounting/Removing SVB-01 Modules

Self-configuration and Created Definition Files

Self-configuration Overview

Explains the self-configuration function and how it reduces system startup time.

How to Execute Self-configuration

Describes two methods for executing self-configuration: using DIP switch and using MPE720.

System Startup Using Self-Configuration

Details system startup procedures for first-time setup, adding devices, and replacing devices.

Self-configuration and Definition Files

Motion Parameters

Motion Parameters Register Numbers

Motion Parameters Setting Window

Motion Parameter Lists

Motion Parameter Setting Examples

Example Setting of Motion Parameters for the Machine

Position Reference

Speed Reference

Acceleration/Deceleration Settings

Motion Commands

Motion Command Table

Motion Commands Supported by SERVOPACK Models

Motion Command Details

Provides detailed descriptions of individual motion commands, including their execution procedures and parameters.

Absolute Position Detection

Absolute Position Detection Function

Explains the function of absolute position detection and its features.

Setting Procedure of Absolute Position Detection Function

Details the system startup flowchart and initialization procedures for absolute encoders.

Absolute Position Detection for Finite Length Axes

Describes parameter settings and precautions for finite length axes using absolute position detection.

Absolute Position Detection for Infinite Length Axes

Explains position control methods for infinite length axes using absolute position detection.

Settings for Connecting Inverters

Specifications for Communications with Connected Inverters

Operating Inverters Using an MPE720

Guides on checking items before operation, operation precautions, and procedures for using inverters with MPE720.

Main Commands and Subcommands

Inverter Alarm and Warning Codes

Classifies and lists inverter errors, alarms, and warnings.

Utility Functions

Controlling Vertical Axes

Overtravel Function

Details connections and parameter settings for stopping the machine when the moving part exceeds movement range.

Software Limit Function

Explains setting upper and lower limits for machine movement to prevent runaway or damage.

Troubleshooting

Troubleshooting System Errors

Provides information for troubleshooting system errors, including register allocations and error status.

Motion Program Alarms

Details motion program alarms, their configuration, and alarm codes.

List of Causes for Command Error Occurrence

Lists causes of command error occurrences for each motion command.

Troubleshooting Motion Errors

Explains details and corrective actions for errors occurring in motion control functions.