YASKAWA MP2100 Series User Manual page 374

(11) Phase References (PHASE)
PHASE performs the same operation as the FEED Command.
(a) Operating Procedure
No. Execution Conditions
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 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.
Note: The following position information is updated during command execution depending on the set-
tings of the Speed Reference (NREFF) (OL
Secondly Speed Compensation (+NCOM2) (OL
• Machine Coordinate Target Position (TPOS) (IL
• Target Position (CPOS) (IL
• Machine Coordinate System Position (MPOS) (IL
• Machine Coordinate Feedback Position (APOS) (IL
Both IL
10
31
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
• The speed can be changed during operation.
• The Command Pause (OB
• The Command Abort (OB
10), Speed Amends (+NCOM) (OW
16).
10)
Confirmation Method
02 and IL 04 are 0.
IB 001 is ON.
IW 08 is 0 and IB 090 is OFF.
Speed (%)
Rated speed
100%
Feed speed
Position
(integral of speed reference)
0
090) cannot be used.
091) cannot be used.
31), and
OE)
12): MPOS is always equal to CPOS.
16): APOS is always equal to CPOS.
11.3 Motion Commands
Time (t)
11
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