YASKAWA SVC - VELO (Issue Speed Reference)

4.2 Motion Command Details
4.2.22 VELO (Issue Speed Reference)
4
Motion Control Program Commands and Instructions
4-89
4.2.22 VELO (Issue Speed Reference)
Execute the VELO command to operate in Speed Control Mode.
This enables the same operation as when the SERVOPACK analog speed reference input is
used.
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. Set the following setting parameters.
• OW01, Bit 3 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
3. Set the OW08 setting parameter (Motion Commands) to 23 to execute the VELO
motion command.
The control mode is changed to speed control for the SERVOPACK.
The IW08 monitor parameter (Motion Command Response Code) is 23 during execution of this
command.
4. Set OW08 to any code other than 23.
Speed Control Mode is turned OFF.
This concludes the issue speed reference operation.
1. Position information and feedback speed are not updated when the SVR Function Module is
used.
2. Torque feedforward compensation can be used with the VELO command. The torque feedfor-
ward compensation is set in the OL0C setting parameter (Torque/Force Reference Set-
ting or Torque Feedforward Compensation). If torque feedforward compensation is not
necessary, set OL0C to 0.
3. The torque can be limited with the OL14 setting parameter (Torque/Force Limit).
OL14 can be changed at any time. The intended operation may not be achieved if the
set value is too small.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
• OL10 can be changed during operation.
• An override of between 0% and 327.67% can be set for OL10.
• Commands can be executed even when the Servomotor’s power is OFF (Servo OFF).
• Position management with position feedback is enabled when operation is performed
in Speed Control Mode.
Important
Information
Information