YASKAWA JEPMC-MP2300-Y Series

7.2
Motion Command Details
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7.2.24 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 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set the following 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 Amends: OW

31

The speed reference bit OL

10 can be changed during operation.

Offset in the sync between the axes can be compensated from the Phase Compensation bit
0L

28.
3.
Set OW

08 to 25 to execute the PHASE motion command.
Sync operation using phase control will start.
IW

08 will be 25 during the execution.

A command can be executed while the servo is ON.

Position management using the position feedback is possible during operation with torque
control mode.
4.
Execute another motion command to cancel the phase control mode.
R
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.
PHASE Operating Pattern
0
Speed (%)
Time (t)
Position