8 Motion Commands
8-76
8.23 Speed Reference (VELO)
With the MECHATROLINK-II, the VELO command is used to operate the SERVOPACK under the speed con-
trol mode, enabling the same type of operation as is possible with the analog speed reference input of the
SERVOPACK.
(1) Operating Procedure
(2) Holding
Holding execution is not possible during VELO command operation. The Command Pause bit (OB
090) is
ignored.
(3) Aborting
The speed control mode can be 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 if the Command Abort bit
(OB
091) is set to 1.
2. The speed control mode operation 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 operation with speed
control mode.
No.
Execution Conditions
Confirmation Method
1
There are no alarms.
Both IL
02 and IL
04 are 0.
2
Motion command execution has been completed.
IW
08 is 0 and IB
090 is OFF.
Set the motion setting parameters.
• Speed Reference setting: OL
10
• Torque Limit setting: OL
14
• Acceleration/Deceleration Filter Type:
OW
03
• Speed Loop P/PI Switch: OW
01
• Position management using the position feedback is possible
during operation with speed control mode.
• The speed can be changed during operation.
• An override of between 0% to 327.67% can be set for the
reference speed.
• This command can be executed even when the Servo is OFF.
• The Command Pause (OB
090) cannot be used.
• If OB
091 set to 1 to abort execution, the axis will decelerate
to a stop.
Execute the VELO motion command.
• Set OW
08 to 23.
The control mode in the SERVOPACK is
switched to speed control.
• IW
08 will be 23 during execution.
Operation under speed control mode
Execute another motion command to cancel
the speed control mode.
Speed (%)
Time (t)
0
Rated speed
Linear
Acceleration Time
Linear
Deceleration Time
100%
Speed