YASKAWA SVC - Page 234

4.2 Motion Command Details
4.2.22 VELO (Issue Speed Reference)
4
Motion Control Program Commands and Instructions
4-91
 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.
After the mode is changed to Speed Control Mode, set this bit to 1
to start operation.
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
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
Set this parameter to 23 (VELO) to change operation to Speed Con-
trol Mode.
OW
09
Bit 0
Hold Command
When this bit is set to 1 (ON) during an issue speed reference opera-
tion, the axis will decelerate to a stop.
Operation is resumed when this bit is set to 0 (OFF) when the axis is
being held.
OW
09
Bit 1
Cancel Command
When this bit is set to 1 (ON) during operation, the axis will deceler-
ate to a stop.
OL
0C
Torque/Force Reference
Setting or Torque Feed-
forward Compensation
Set the torque feedforward amount during speed control.
OL
10
Speed Reference Set-
ting
Set the 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 the speed reference. The same value is used
in both the forward and reverse directions.
OW
18 Override
This parameter allows the 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36
Linear Acceleration
Rate/Acceleration Time
Constant
Set the acceleration rate or acceleration time.
OL
38
Linear Deceleration
Rate/Deceleration Time
Constant
Set the deceleration rate or 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).