YASKAWA SVC - Page 157

4.2 Motion Command Details
4.2.2 EX_POSING (External Positioning)
4-14
Operating Patterns
The following figure shows the operating pattern when the EX_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 motor will always decelerate to a stop, regardless of 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 same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during axis motion.
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 2 (EX_POS-
ING).
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
Bit 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
Continued on next page.
0
(100%)
Speed (%)
Rated speed
Latch signal (external positioning signal)
Speed Reference
Setting
(OL10)
Linear Deceleration
Time Constant
(OL38)
Linear Acceleration
Time Constant
(OL36)
External Positioning
Final Travel Distance
Time (t)