YASKAWA SVC - Page 151

4.2 Motion Command Details
4.2.1 POSING (Positioning)
4-8
5.
Set OW08 to 0 to execute the NOP motion command.
This concludes positioning.
Operating Patterns
The following figure shows the operating pattern when the POSING command is executed.
Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold
Command) in the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the
IW09 monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is
restarted.
Canceling
• To stop an axis during motion and cancel the remaining motion, set bit 1 (Cancel Command)
in the OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• The positioning operation resumes if bit 1 (Cancel Command) in the OW09 setting
parameter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
When the absolute value specification method is used and bit 1 in OW
 09 is set to 0
(Cancel Command OFF) after decelerating to a stop, motion is resumed in the direction of the
position reference value set in the OL
 1C setting parameter (Position Reference Setting).
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during axis motion.
Command Execution
A motion command is executed when a command code is set to the Motion Command parame-
ter register (OW08).
0
(100%)
Speed (%)
Rated speed
Speed Reference
Setting
(OL10)
Linear
Acceleration
Time Constant
(OL
 36)
Linear
Deceleration
Time Constant
(OL
 38)
Time (t)
Position
Reference
Term