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Ladder logic program example – Yaskawa MP940 User Manual

Page 424

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Motion Control

11.2.4 Phase Control Mode

11-22

Ladder Logic Program Example

Fig 11.13 RUN Command (DWG H04)

The example in the above illustration has been greatly simplified. In actual operation, each
register can be controlled from the user program.

H0188

RUNMOD

OWC000

MW00040×SW00004

K1

TsH

÷

MW00041

K2

KS

ML03010

NR×FBppr×n   

60×10

4      

10000

FFGAIN

MW03012

RUN

OBC0010

PREPARE

MB010010

ML03030

MA03050

FGN

ML03020

ML03020

ML03022

-ML03024

00000

MB010020

[  

ML03022]×MW03012

FFGAIN

÷

ML03010

KS

NREF

OWC015

[ 

ML03022][+MW03020]

PHBIAS

[⇒

OLC016]

ML03020

ML03024

DEND

Set the phase control mode to ON.

Set Phase Reference Generation

Operation Disable to ON.

Calculate the speed scaling constant (ks).

High-speed scan setting: SW0004

Numerator *MW00040

Denominator *MW00041

NR = Rated speed

FBppr = Number of feedback pulses

n = Number of pulse multipliers (1, 2,

or 4)

Reduce the fraction to the lowest terms

so that it can be stored as one word.

Feed forward gain [10000/100%]

Driver RUN command (RUN)

When MB01010 turns ON, phase con-

trol starts.

PHASE REFERENCE

DISPLACEMENT

PATTERN

DISPLACE-

MENT X

The phase reference displacement

[pulse] is read from the FGN function.

Displace-

ment x

Position

reference

The FGN pattern is set in advance.

DISPLACE-

MENT X

PREVIOUS

VALUE

CHANGE

Changes [pulses] per scan

RUN command

When RUN command MB010020 turns

ON, the machine operates at the refer-

ence speed NREF. When MB010020

turns OFF, the reference speed NREF

remains at “0.”

CHANGE

Standard speed reference setting

[0.01%]

POSITION

BIAS

DISPLACE-

MENT X

Phase compensation setting [pulse]

DISPLACE-

MENT X

PREVIOUS

VALUE

Phase reference previous displacement

value [pulse]