Yaskawa MP2200 Machine Controller - Manual (Page 340)

5 Motion Commands
5.2.24 Phase References (PHASE)
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5.2.24 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.
Speed feed forward control cannot be used for the SGD-N or SGDB-N SERVOPACK, so the
PHASE command cannot be used.
( 1 ) Operating Procedure
( 2 ) Holding and Aborting
The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 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
• Acceleration/Deceleration Filter Type:
OW††03
• Speed Loop P/PI Switch: OW††01
• Phase Bias Setting: OL††28
• Speed Compensation: OW††31
• The speed can be changed during operation.
• Offset in the sync between the axes can be compensated.
• The Command Pause (OB††090) cannot be used.
• The Command Abort (OB††091) cannot be used.
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.
Position
Speed
(%)
Time (t) 0