YASKAWA SVC - Page 199

4.2 Motion Command Details
4.2.7 STEP (STEP Operation)
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Operating Patterns
The following figure shows the operating pattern when the STEP 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 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 8 (STEP).
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.
STEP Operating Pattern
(100%)
0
Speed (%)
Rated speed
Time (t)
Feed Speed
STEP Travel
Distance
Linear Acceleration
Time Constant
(OL36)
Linear Deceleration
Time Constant
(OL38)