Phase References (Phase) - YASKAWA MP2100 Series User Manual

8.25 Phase References (PHASE)

The PHASE command is used for the synchronized operation of multiple axes under phase control mode, using
the specified speed, phase bias, and speed compensation value.
(1) Operating Procedure
No.
1 There are no alarms.
2
The Servo ON condition.
3 Motion command execution has been completed.
Set the motion setting parameters.
• Speed Reference Setting: OL
• Acceleration/Deceleration Filter Type:
OW 03
• Speed Loop P/PI Switch: OW
• Phase Bias Setting: OL
• Speed Compensation: OW
Execute the PHASE motion command.
• Set OW 08 to 25.
Sync operation using phase control starts.
• IW 08 will be 25 during execution.
Operation in phase control mode
Execute another motion command to cancel
the phase control mode.
(2) Holding and Aborting
The Command Pause bit (OB
(3) Related Parameters
(a) Setting Parameters
Parameter
OB 000 Servo ON
OW 03 Function 1
OW 08 Motion Command
OL 10 Speed Reference
OL 28 Phase Compensa-
tion
OW 31 Speed Amends
OW 3A S-Curve
Acceleration Time
Execution Conditions
10
01
28
31
090) and the Command Abort bit (OB
Name
Turns 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 Code (OW
25.
Set the speed unit, acceleration/deceleration unit, and filter type.
Phase control operation is started when this parameter is set to 25.
Set the speed reference. The setting can be changed during operation. The unit
depends on the setting of OW
Set the number of bias pulses for phase compensation in pulses.
Set the speed feed forward gain as a percentage of the rated speed.
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW
Change the setting only after pulse distribution has been completed for the
command (IB
Confirmation Method
Both IL 02 and IL
IB 001 is ON.
IW 08 is 0 and IB
Speed
(%)
Position
0
• The speed can be changed during operation.
• Offset in the sync between the axes can be compensated.
• The Command Pause (OB
• The Command Abort (OB
091) cannot be used.
Setting
03.
0C0 is ON).
8.25 Phase References (PHASE)
04 are 0.
090 is OFF.
Time (t)
090) cannot be used.
091) cannot be used.
08) to
03.
8
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