YASKAWA S-7 Series, Command Manual

Page: 114 / 191

3.2 Servo Commands
3.2.15 Velocity Control Command (VELCTRL: 3Ch)
3-48
3.2.15 Velocity Control Command (VELCTRL: 3Ch)
Data Format
Phases in which the
Command can be Executed
2, 3
Command
Classification
Servo standard
command
Asynchronous
command
Processing Time
Within
communication
cycle
Subcommand Can be used
Byte
VELCTRL
Description
Command Response
0 3Ch 3Ch
•
The VELCTRL command sends the speed reference to a
slave station to perform speed control. The slave station
performs speed control directly without position control.
•
To cancel the speed control, set the speed reference as
VREF = 0 or set SVCMD_CTRL.CMD_CANCEL to "1."
•
To pause the speed control, set SVCMD_C-
TRL.CMD_PAUSE to "1."
•
Confirm the completion of the command execution by
checking that RCMD = VELCTRL (= 3Ch) and
CMD_STAT.CMDRDY = 1.
•
Confirm the completion of command execution canceling
by checking that CMD = VELCTRL (= 3Ch),
CMD_STAT.CMDRDY = 1, and SVCMD_STAT.CMD_-
CANCEL_CMP = 1.
•
Confirm the arrival of the feedback speed at the speed ref-
erence (VREF) by checking that SVCMD_IO.V_CMP = 1.
•
Confirm the completion of pausing of the command by
checking that RCMD = VELCTRL (= 3Ch),
CMD_STAT.CMDRDY = 1 and SVCM-
D_STAT.CMD_PAUSE_CMP = 1.
•
CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters .
<Notes on using the command>
•
VREF (Velocity reference):
Set the speed reference with a signed value.
•
TFF (torque feedforward):
Set the torque feedforward value with a signed value.
Use it as a torque feedforward function.
•
ACCR (acceleration):
Set the acceleration with an unsigned value.
•
DECR (deceleration):
Set the deceleration with an unsigned value.
•
TLIM (torque limit):
Set the torque limit with an unsigned value.
•
Refer to the following section for the above reference data.
3.2.19 Motion Command Data Setting Method on page
3-52.
•
Refer to the following section for the reference value
units in the command area.
2.7.2 Specifying Units on page 2-27.
•
If the command is sent in the servo OFF state (SVON =
0), the command becomes effective next time the servo
ON state (SVON = 1) is established.
In the following case, an alarm will occur and the com-
mand will not be executed.
•
When the ACCR or DECR data is invalid:
CMD_ALM = 9h (A.94B)
In the following cases, an alarm will occur and the relevant
value will be clamped at the limit value.
•
When the VREF data is invalid:CMD_ALM = 1h (A.94B)
•
When the TLIM data is invalid:CMD_ALM = 1h (A.97B)
1 WDT RWDT
2
CMD_CTRL CMD_STAT
3
4
SVCMD_CTRL SVCMD_STAT
5
6
7
8
SVCMD_IO SVCMD_IO
9
10
11
12
TFF
CPRM_SEL_
MON1
13
14
15
16
VREF
CPRM_SEL_
MON2
17
18
19
20
ACCR MONITOR1
21
22
23
24
DECR MONITOR2
25
26
27
28
TLIM MONITOR3
29
30
31