YASKAWA SVC - Page 252

4.2 Motion Command Details
4.2.27 EX_FEED (Jog with External Positioning)
4
Motion Control Program Commands and Instructions
4-109
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 bit to 1 before setting OW08 to 34 (EX_FEED).
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04
Bit 4 to 7
External Positioning
Signal Setting
Set the signal to use for external positioning.
2: Phase-C pulse, 3: /EXT1, 4: /EXT2, 5: /EXT3
OW08 Motion Commands
External positioning with jogging is started when this parameter is
set to 34 (EX_FEED). External positioning with jogging stops and the
axis decelerates to a stop when this parameter is set to 0.
OW
09
Bit 1
Cancel Command
When this bit is set to 1 (Cancel command ON) during external posi-
tioning with jogging, the axis will decelerate to a stop.
OW
09
Bit 2
Travel Direction for
JOG/STEP
Set the travel direction for external positioning with jogging.
0: Forward, 1: Reverse
OL10
Speed Reference Set-
ting
Set the speed for external positioning with jogging. 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 external positioning with jogging. This param-
eter can be changed during operation. The unit depends on the set
value of bits C to F in OW03.
OW
18 Override
This parameter allows the feed speed to be changed without chang-
ing 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 jogging acceleration rate with the acceleration rate or the
acceleration time.
OL38
Linear Deceleration
Rate/Deceleration Time
Constant
Set the jogging 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 completed (i.e., when bit 0 in IW0C is 1).
OL
46
External Positioning
Final Travel Distance
Set the travel distance after the external positioning signal is input.