8.23 Speed Reference (VELO)
8-77
8
(4) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
Parameter Name Setting
OB

000 Servo ON Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor 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 This parameter is ignored for VELO command.
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 OW

03.
OL

14 Positive Side Limit-
ing 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.
OL

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 constant for operation.
OL

38 Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for operation.
OW

3A S-Curve Accelera-
tion Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW

03.
Change the setting only after pulse distribution has been completed for the
command (IB

0C0 is ON).
Parameter Name Monitor Contents
IB

001 Servo ON Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL

02 Warning Stores the most current warning.
IL

04 Alarm Stores the most current alarm.
IW

08 Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 23 during VELO command execution.
IB

090 Command Executing Turns ON when abort processing is being performed for VELO command. Turns
OFF when abort processing has been completed.
IB

091 Hold Completed Always OFF for VELO command.
IB

093 Command Error End Turns ON if an error occurs during VELO command execution. The axis will
decelerate to a stop if it is operating. Turns OFF when another command is
executed.
IB

098 Command
Completed
Always OFF for VELO command.
IB

0C0 Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.