YASKAWA SVC - Page 233

4.2 Motion Command Details
4.2.22 VELO (Issue Speed Reference)
4-90
Operating Patterns
The following figure shows the operating pattern when the VELO 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 cancel Speed Control Mode, 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).
• Speed Control Mode resumes if bit 1 (Cancel Command) in the OW09 setting parame-
ter 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 operation in Speed Control Mode.
Related Parameters
The parameters that are related to this command are listed in the following table.
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 completed
(IW08 is 23 and bit 8 in IW09 is 1), even though an attempt was made to restart the
operation. Set OW08 to any command other than VELO (e.g., NOP), and then start the
operation again.
If an operation is to be frequently canceled and restarted within a short interval, remember to
consider this delay.
0
Speed (%)
Time (t)
VELO Operating Pattern
Important