8.23 Speed Reference (VELO)
8-77
8
(4) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
Parameter
Name
Setting
OB
000
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor will start to rotate when this bit is set to 1 under the speed control data
mode.
OB
013
Speed Loop P/PI
Switch
Switch the speed control loop between PI control and P control.
0: PI control, 1: P control
OW
03
Function 1
Set the speed unit, acceleration/deceleration unit, and filter type.
OW
08
Motion Command
The mode is changed to speed control mode when this parameter is set to 23.
OB
090
Command Pause
This parameter is ignored for VELO command.
OB
091
Command Abort
The axis will decelerate to a stop if this bit is set to 1 during operation.
OL
10
Speed Reference
Specify the speed. This setting can be changed during operation. The unit
depends on the setting of OW
03.
OL
14
Positive Side Limit-
ing Torque Setting at
the Speed
Reference
Set the torque limit for the speed reference. The same value is used for both the
positive and negative directions.
OL
18
Speed Override
This parameter allows the motor speed to be changed without changing the Speed
Reference (OL
10). Set the speed as a percentage of the Speed Reference
Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
OL
36
Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for operation.
OL
38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for operation.
OW
3A
S-Curve Accelera-
tion Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW
03.
Change the setting only after pulse distribution has been completed for the
command (IB
0C0 is ON).
Parameter
Name
Monitor Contents
IB
001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL
02
Warning
Stores the most current warning.
IL
04
Alarm
Stores the most current alarm.
IW
08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 23 during VELO command execution.
IB
090
Command Executing
Turns ON when abort processing is being performed for VELO command. Turns
OFF when abort processing has been completed.
IB
091
Hold Completed
Always OFF for VELO command.
IB
093
Command Error End
Turns ON if an error occurs during VELO command execution. The axis will
decelerate to a stop if it is operating. Turns OFF when another command is
executed.
IB
098
Command
Completed
Always OFF for VELO command.
IB
0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
