YASKAWA MP2200

8.3
Motion Commands
8-29
( 6 ) JOG Operation (FEED)
The FEED command starts movement in the specified travel direction at the specified travel speed.
To stop the operation, execute the NOP motion command. The axis will decelerate to a stop when the
NOP motion command is executed.
Parameters related to acceleration and deceleration are set in advance. The speed can be changed
during axis movement.
[ a ] Operating Procedure
（Note） The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL

0E)
• Target Position (CPOS) (IL

10)
• Machine Coordinate System Position (MPOS) (IL

12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL

16): APOS is always equal to CPOS.
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 The Servo ON condition.
IB

001 is ON.
3 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
Set the motion setting parameters.
• Direction of Movement: OB

092
• Speed Reference: OL

10
• Acceleration/Deceleration Filter Type:
OW

03
• The travel speed can be changed during movement.
• The Command Pause (OB

090) cannot be used.
• The axis will decelerate to a stop if the Command Abort bit
(OB

091) is set to 1 during execution.
Execute the JOG operation (FEED) motion
command.
• Set OW

08 to 7.
JOG operation starts.
• IW

08 will be 7 during execution.
Execute NOP motion command.
• Set OW

08 to 0.
Positioning completed.
• IB

0C1 will turn ON.
100%
0
OW08 = 7 (FEED)
IW08 = 7 (FEED)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)
Linear acceleration
time
Linear deceleration
time
Feed speed
Rated speed
Speed (%)
Time (t)
Position
(integral of
speed
reference)
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