3 ) related parameters – Yaskawa JAPMC-MC2300 User Manual

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7.2 Motion Command Details

7.2.11 Phase References (PHASE)

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( 3 ) Related Parameters

[ a ] Setting Parameters

[ b ] Monitoring Parameters

Parameter

Name

Setting

Bit 0

Servo ON

Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW

08) to 25.

Function Setting 1

Sets the speed unit, acceleration/deceleration unit, and filter type.

Bit 1

Phase
Reference Creation
Calculation Disable

Disables/enables phase reference generation processing when executing phase reference
commands. This bit enables setting processing appropriate to an electronic shaft or elec-
tronic cam.

• Enable this processing when an electronic shaft is being used, and disable it when an

electronic cam is being used.

Motion Command

Phase control operation starts when this parameter is set to 25.

Speed Reference
Setting

Set the speed reference. The setting can be changed during operation.
The unit depends on the Function Setting 1 setting (OW

03, bits 0 to 3).

Secondly Speed
Compensation

Set the speed feed forward amount for PHASE command.
The setting unit for Speed Compensation (setting parameter OW

31) is 0.01%

(fixed).The unit for this parameter, however, can be selected by the user. When used at the
same time as OW

31, speed compensation can be performed twice.

Phase
Correction Setting

Set the phase compensation in reference units.

• Set the number of pulses for phase compensation in pulses when an electronic shaft is

being used.

• Use the incremental addition mode to calculate the cam pattern target position when an

electronic cam is being used.

Speed
Compensation

Set the speed feed forward gain as a percentage of the rated speed.
The setting units for this parameter is 0.01% (fixed).

Straight Line
Deceleration/
Deceleration Time
Constant

Specify the deceleration rate when the motion command is changed from PHASE to NOP.

Parameter

Name

Monitor Contents

Bit 1

Running (At Servo ON)

Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor

Warning

Stores the most current warning.

Alarm

Stores the most current alarm.

Motion Command
Response Code

Indicates the motion command that is being executed.
The response code is 25 during PHASE command execution.

Bit 0

Command Execution Flag

Always OFF for PHASE command.

Bit 1

Command Hold Completed

Always OFF for PHASE command.

Bit 3

Command Error Completed
Status

Turns ON if an error occurs during PHASE command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command
is executed.

Bit 8

Command Execution
Completed

Always OFF for PHASE command.

Bit 0

Discharging Completed

Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.

Bit 1

Positioning Completed

Turns ON when pulse distribution has been completed and the current position is
within the Width of Positioning Completion. OFF in all other cases.