YASKAWA SVC User Manual page 243

4.2 Motion Command Details
4.2.24 PHASE (Issue Phase Reference)
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Address

OW
Bit 0

OW
Bit 8 to F

OW

OW
Bit 1

OW

OW
Bit 6

OL

OL

OW

OL

OL

OL

OW

OW
4-100
Name
00
Servo ON
02
Stop Mode Selection
03 Function Settings 1
05 Disable Phase Refer-
ence Calculation
08 Motion Commands
09 Electronic Cam Phase
Compensation Type
Torque/Force Reference
0C Setting or Torque Feed-
forward Compensation
Speed Reference Set-
10
ting
12 Speed Limit
14 Torque/Force Limit
Second Speed Com-
16
pensation
Phase Compensation
28
Setting
31 Speed Compensation
3A Filter Time Constant
Setting Details
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 25 (PHASE).
0: OFF, 1: ON
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
Select the speed unit, acceleration/deceleration unit, and filter type.
Use this bit to enable or disable phase reference calculations when
the PHASE command is executed. This setting determines if pro-
cessing is optimized for electronic shafts or electronic cams.
Setting Precautions
• Phase reference calculation must be enabled when an electronic
shaft application is used.
• If you use an electronic cam applications, disable it.
Phase control operation is started when this parameter is set to 25
(PHASE).
If a system with an electronic cam is used, set this parameter to
select the method for setting the phase compensation for the refer-
ence value of the cam pattern.
0: Incremental value addition method,
1: Absolute value specification method
Set the torque feedforward amount during the issue phase reference
operation.
Set the speed reference. This parameter can be changed during
operation.
The unit depends on the set value of bits 0 to 3 in OW03.
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.
Set the torque limit for the issue phase reference operation.
Set the speed feedforward amount during execution of the PHASE
command.
The setting unit for the OW31 setting parameter is always
0.01%. However, the unit for this parameter can be selected. When
this parameter is used at the same time as OW31, speed com-
pensation is performed twice.
Set the phase bias in reference units.
Setting Precautions
• When an electronic shaft application is used, set the control bias.
• When an electronic cam application is used, this parameter speci-
fies the target position for the cam pattern.
Set the speed feedforward amount as a percentage of the rated
speed.
The setting unit for this parameter is always 0.01%.
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 com-
pleted (i.e., when bit 0 in IW0C is 1).