Yaskawa MP920 User's Manual Design - Manual (Page 131)

4.2 Control Modes
4-17
4
* Valid only with an SVA-02A Module.
3. Select the Phase Control Mode (PHCON) (bit 3 of OW††00).
At this time, also set Phase Reference Disable (PHREFOFF: bit 7 of OW††00). Nor-
mally, this bit is set to OFF for electronic shaft applications, and it is set to ON for elec-
tronic cam applications.
4. Set the Servo ON (RUN) to ON (bit 0 of OW††01).
Phase control will be performed for the axis according to the specified motion parame-
ters.
Even while phase control is being performed, the motion parameter settings can be
changed.
5. To stop operation, set the RUN command (RUN) and the phase control mode (PHCON)
to OFF.
„ User Program Example 1: Electronic Shaft
Example of RUN Operation
Phase control can be called “speed control with position compensation” or “position control
with 100% speed feed forward.” “Position” means the motor angle of rotation, and is there-
fore called “phase control.” An electronic shaft can be configured using this phase control.
Fig. 4.6 shows a block diagram of a phase control loop.
Table 4.5 Examples of Setting Parameters
Name Register
No.
Setting
Range
Meaning Electronic
Shaft
Setting
Example
Electronic
Cam
Setting
Example
Positive Torque Limit
Setting (TLIMP)* OW††02 -32768 to
32767 1 = 0.01% -10000
(-100.00%)
-10000
(-100.00%)
Positive Speed Limiter
Setting (NLIMP) OW††04 0 to 32767 1 = 0.01% 13000
(130.00%)
13000
(130.00%)
Negative Speed
Limiter Setting
(NLIMN) OW††05 0 to 32767 1 = 0.01% 13000
(130.00%)
13000
(130.00%)
Error Count Alarm
Detection Setting
(EOV) OW††0F 0 to 65535 1 = 1 pulse 65535 65535
Speed Reference
Setting (NREF) OW††15 -32768 to
32767 1 = 0.01% 5000
(50.00%)
Set by the
ladder logic
program.
Phase Bias Setting
(PHBIAS) OL††16
-2 31 to 2 31 -1 1 = 1 pulse
Set by the
ladder logic
program.
Set by the
ladder logic
program.
Speed Compensation
Setting (NCOM) OW††18 -32768 to
32767 1 = 0.01% 0 0
Proportional Gain
Setting (PGAIN) OW††19 0 to 32767 0.1 = 0.1 /s
1 = 1 /s 1.5
(1.5)
250.0
(250.0)
Integral Time Setting
(TI) OW††1A 0 to 32767 1 = 1 ms 300
(300 ms)
0
(0 ms)