YASKAWA MP2200

5.2
Motion Command Details
5-101
( 3 ) Aborting
The speed control mode can be cancelled by aborting execution of a command. A command is
aborted by setting the Command Abort bit (OB

091) to 1.
1. Set the Command Abort bit (OB

091) to 1. The axis will decelerate to a stop when
the Command Abort bit (OB

091) is set to 1. The abort processing will be
completed when the axis has decelerated to a stop.
2. 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
（Note） : Parameters only for the SVB-01 Module.
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
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 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.
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 Acceleration
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).
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