8 Motion Commands
8-6
(3) Aborting
Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution
of a command. A command is aborted by setting the Command Abort bit (OB
091) to 1.
1. Set the Command Abort bit (OB
091) to 1. The axis will decelerate to a stop. When the axis has
stopped, the remain travel will be canceled and the Positioning Completed bit (IB
01C) will turn ON.
2. The positioning will restart if the Command Abort bit (OB
091) is reset to 0 during abort processing.
This type of operation will also be performed if the motion command is changed during axis movement.
(4) Related Parameters
(a) Setting 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
Turn ON the power before setting the Motion Command (OW
08) to 1.
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 positioning starts when this parameter is set to 1. The operation will be
canceled if this parameter is set to 0 during POSING command execution.
OB
090
Command Pause
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution. The positioning will restart if this bit is reset to 0 when a command is
being held.
OB
091
Command Abort
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution. When this bit is reset to 0 after stopping, the operation depends on the
setting of the Position Reference Type (OB
095).
OB
095
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW
08) to 1.
OL
10
Speed Reference
Specify the speed for the positioning. This setting can be changed during
operation. The unit depends on the setting of OW
03.
OL
18
Speed Override
This parameter allows the positioning 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
1C
Position Reference
Type
Set the target position for positioning. This setting can be changed during
operation. The meaning of the setting depends on the status of OB
095.
OL
1E
Positioning
Completed Width
Set the width in which to turn ON the Positioning Completed bit (IB
0C1).
OL
20
Positioning
Completed Width 2
Set the range in which the Position Proximity bit (IB
0C3) will turn ON. The
Position Proximity bit will turn ON when the absolute value of the difference
between the reference position and the feedback position is less than the value set
here.
OL
36
Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for positioning.
OL
38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
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).
