2 ) holding and aborting, 3 ) related parameters – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual

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6.2 Motion Command Details

6.2.24 Phase References (PHASE)

6-90

( 2 ) Holding and Aborting

The Holds a Command bit (OW

09, bit 0) and the Interrupt a Command bit (OW

09, bit 1) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

[ b ] Monitoring Parameters

Parameter

Name

Setting

SVR

Bit 0

Servo ON

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

08) to 25.

Function Setting 1

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

Bit 1

Phase Reference
Creation Calcula-
tion Disable

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

Enable this processing when an electronic shaft is being used, and dis-
able it when an electronic cam is being used.

−

Motion Command

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

Bit 6

Phase
Compensation Type

If using a system with an electronic cam, select a setting method for the phase com-
pensation for the reference value of the cam pattern.
0: Incremental addition mode, 1: Absolute mode

−

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).

Second Speed Com-
pensation

Set the speed feed forward amount for the Phase Reference command (PHASE).
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 correction amount 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 Compensa-
tion

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

Filter Time Constant

Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function Setting 1
(OW

03, bits 8 to B).

Change the setting only after pulse distribution has been completed for the com-
mand (IW

0C, bit 0 is ON).

Parameter

Name

Monitor Contents

SVR

Bit 1

Running (At Servo ON)

Indicates the Servo ON status.
1: Power supplied to Servomotor, 0: Power not supplied to Servomotor

Warning

Stores the most current warning.

Alarm

Stores the most current alarm.

Motion Command Re-
sponse Code

Indicates the motion command that is being executed.
The response code will be 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.