YASKAWA MP2100 Series User Manual

8.25 Phase References (PHASE)
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8.25 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.
(1) Operating Procedure
(2) Holding and Aborting
The Command Pause bit (OB

090) and the Command Abort bit (OB

091) cannot be used.
(3) Related Parameters
(a) Setting Parameters
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.
Set the 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 Compensation: OW

31
• The speed can be changed during operation.
• Offset in the sync between the axes can be compensated.
• The Command Pause (OB

090) cannot be used.
• The Command Abort (OB

091) cannot be used.
Execute the
PHASE
motion command.
• Set OW

08 to 25.
Sync operation using phase control starts.
• IW

08 will be 25 during execution.
Operation in phase control mode
Execute another motion command to cancel
the phase control mode.
Position
Speed
(%)
Time (t)
0
Parameter Name Setting
OB

000 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 Code (OW

08) to
25.
OW

03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW

08 Motion Command Phase control operation is started when this parameter is set to 25.
OL

10 Speed Reference Set the speed reference. The setting can be changed during operation. The unit
depends on the setting of OW

03.
OL

28 Phase Compensa-
tion
Set the number of bias pulses for phase compensation in pulses.
OW

31 Speed Amends Set the speed feed forward gain as a percentage of the rated speed.
OW

3A S-Curve
Acceleration Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW

03.
Change the setting only after pulse distribution has been completed for the
command (IB

0C0 is ON).

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English