YASKAWA MP2100 Series User Manual

11.3 Motion Commands
11-35
11
(11) Phase References (PHASE)
PHASE performs the same operation as the FEED Command.
(a) Operating Procedure
Note: The following position information is updated during command execution depending on the set-
tings of the Speed Reference (NREFF) (OL
10), Speed Amends (+NCOM) (OW31), and
Secondly Speed Compensation (+NCOM2) (OL
16).
• Machine Coordinate Target Position (TPOS) (IL

OE)
• Target Position (CPOS) (IL

10)
• Machine Coordinate System Position (MPOS) (IL

12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL

16): APOS is always equal to CPOS.
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 Compensation: OW

31
• The speed can be changed during operation.
• 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
(integral of speed reference)
Feed speed
Rated speed
100%
0
Speed (%)
Time (t)
OW08 = 25 (PHASE)
IW08 = 25 (PHASE)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English