YASKAWA SVC - Page 152

4.2 Motion Command Details
4.2.1 POSING (Positioning)
4
Motion Control Program Commands and Instructions
4-9
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Address
Name Setting Details
OW00
Bit 0
Servo ON
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 1 (POSING).
0: Servo OFF, 1: Servo ON
OW01
Bit 3
Speed Loop P/PI
Switch
Use this bit to change the speed control loop between PI control and
P control.
0: PI control, 1: P control
OW02
Bits 8 to F
Stop Mode Selection
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration Time
Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW08 Motion Commands
Positioning is started when this parameter is set to 1 (POSING).
Set this parameter to 0 (NOP) during positioning to cancel the posi-
tioning operation.
OW09
Bit 0
Hold Command
If this bit is set to 1 (ON) during positioning, the axis will decelerate to
a stop.
The positioning operation is resumed if this bit is set to 0 (OFF) when
the axis is being held.
OW09
Bit 1
Cancel Command
If this bit is set to 1 (ON) during positioning, the axis will decelerate to
a stop.
If this bit is set to 0 (OFF) after decelerating to a stop, the operation
will depend on the setting of bit 5 in OW09.
OW09
Bit 5
Position Reference
Typ e
Set the position reference type.
Set this bit before setting OW08 to 1 (POSING).
0: Incremental value addition method
1: Absolute value specification method
OL10
Speed Reference Set-
ting
Specify the positioning speed. This parameter can be changed during
operation.
The unit depends on the set value of bits 0 to 3 in OW03.
OW12 Speed Limit
Set the upper speed limit as a percentage of the rated speed. This
value is an absolute value. It is used in both the forward and reverse
directions.
OL14 Torque/Force Limit Set the torque limit for positioning.
OW18 Override
This parameter allows the positioning speed to be changed without
changing the value of OL
10. Set the value a
s a percentage of
the Speed Reference Setting. This parameter can be changed during
operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
OL1C
Position Reference
Setting
Set the target position for positioning. This parameter can be changed
during operation.
The meaning of the set value depends on the status of bit 5 in
OW09.
OL1E
Positioning Comple-
tion Width
Set this parameter to the value for which bit 1 in IW0C will
change to 1 (Within positioning completed range).
OL20
NEAR Signal Output
Width
Set this parameter to the value for which bit 3 in IW0C will
change to 1 (Within near position range). Bit 3 changes to 1 when the
absolute value of the difference between the reference position and
the feedback position is within the range that is specified here.
Continued on next page.