YASKAWA SVC - Page 195

4.2 Motion Command Details
4.2.6 FEED (Jog)
4-52
 Monitor Parameters
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
OW
03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW
08 Motion Commands
The jogging operation starts when this parameter is set to 7 (FEED).
The axis will decelerate to a stop and the jogging operation will be
completed if this parameter is set to 0 (NOP) during the jogging
operation.
OW
09
Bit 1
Cancel Command
When this bit is set to 1 (ON) during jogging, the axis will decelerate
to a stop.
OW
09
Bit 2
Travel Direction for
JOG/STEP
Set the travel direction for jogging.
0: Forward, 1: Reverse
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 jogging.
OW
18 Override
This parameter allows the feed speed to be changed without chang-
ing the value of OL10.
Set the value as 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
1E
Positioning Completion
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.
OL
36
Linear Acceleration
Rate/Acceleration Time
Constant
Set the jogging acceleration rate with the acceleration rate or the
acceleration time.
OL
38
Linear Deceleration
Rate/Deceleration Time
Constant
Set the jogging deceleration rate with the deceleration rate or the
deceleration time.
OW
3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected
in bits 8 to B in OW03.
This setting can be changed only when distribution has been com-
pleted (i.e., when bit 0 in IW0C is 1).
Register
Address
Name Monitored Contents
IW
00
Bit 1
Running with Servo
ON
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
IL
02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
IW08
Motion Command
Response Code
This parameter shows the motion command currently in execution.
This parameter is 7 during execution of the FEED command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit changes to 1 (Processing) when cancel processing is being per-
formed for the FEED command. This bit changes to 0 (Completed) when
cancel processing has been completed.
Continued on next page.
Continued from previous page.
Register
Address
Name Setting Details