YASKAWA SVC - Page 200

4.2 Motion Command Details
4.2.7 STEP (STEP Operation)
4
Motion Control Program Commands and Instructions
4-57
 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 STEP operation is started when this parameter is set to 8
(STEP).
Set this parameter to 0 (NOP) during a STEP operation to cancel the
STEP operation.
OW
09
Bit 0
Hold Command
When this bit is set to 1 (ON) during a STEP operation, the axis will
decelerate to a stop.
The STEP 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 2
Travel Direction for
JOG/STEP
Set the travel direction for the STEP operation.
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 interpolation positioning.
OW
18 Override
This parameter allows the positioning speed to be changed without
changing 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 positioning acceleration rate with the acceleration rate or the
acceleration time.
OL
38
Linear Deceleration
Rate/Deceleration Time
Constant
Set the positioning 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).
OL
44 STEP Travel Distance Set the travel distance for the STEP operation.
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.
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Continued from previous page.
Register
Address
Name Setting Details