YASKAWA SVC - Page 194

4.2 Motion Command Details
4.2.6 FEED (Jog)
4
Motion Control Program Commands and Instructions
4-51
Operating Patterns
The following figure shows the operating pattern when the FEED command is executed.
Holding
Holding execution of the FEED command is not possible. Bit 0 (Hold Command) in the
OW09 setting parameter will be ignored.
Canceling
• To cancel a jogging operation, set bit 1 (Cancel Command) in the OW09 setting param-
eter 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.
After the axis decelerates to a stop, bit 1 (Positioning Completed) in the IW0C monitor
parameter will change to 1 (Within positioning completed range).
• The jogging operation resumes if bit 1 (Cancel Command) in the OW09 setting param-
eter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
• 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
1. Due to the delay that occurs when sending or receiving commands and responses between
the CPU and the Motion Control Function Module, the cancel processing may have been com-
pleted (IW08 is 7 and bit 8 in IW09 is 1), even though an attempt was made to
restart the operation. In this case, operation cannot be resumed. Set OW08 to any com-
mand other than FEED (e.g., NOP), and then start the operation again.
2. If an operation is to be frequently canceled and restarted within a short interval, remember to
consider this delay.
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 7 (FEED).
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
Continued on next page.
(100%)
0
Speed (%)
Rated speed
NOP command
Feed Speed
Position
Linear Acceleration
Time Constant
(OL36)
Linear Deceleration
Time Constant
(OL38)
Time (t)
Important