YASKAWA SVC - PHASE (Issue Phase Reference)

4.2 Motion Command Details
4.2.24 PHASE (Issue Phase Reference)
4
Motion Control Program Commands and Instructions
4-99
4.2.24 PHASE (Issue Phase Reference)
The PHASE command is used for the synchronized operation of multiple axes in Phase Control
Mode, using the specified speed, phase bias, and speed compensation.
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. Set the following setting parameters.
• OW01, Bit 3 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL28 (Phase Compensation Setting)
• OW31 (Speed Compensation)
3. Set the OW08 setting parameter (Motion Commands) to 25 to execute the PHASE
motion command.
Synchronized operation through phase control is started.
The IW08 monitor parameter (Motion Command Response Code) is 25 during execution of this
command.
4. Set OW08 to any code other than 25.
Phase control is turned OFF.
This concludes the phase control operation.
Operating Patterns
The following figure shows the operating pattern when the PHASE command is executed.
1. Torque feedforward compensation can be used with the PHASE command. The torque feed-
forward compensation is set in the OL0C setting parameter (Torque/Force Reference
Setting or Torque Feedforward Compensation). If torque feedforward compensation is not
necessary, set OL0C to 0.
2. The torque can be limited with the OL14 setting parameter (Torque/Force Limit).
OL14 can be changed at any time. The intended operation may not be achieved if the
set value is too small.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
3
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
Important
0
Speed (%)
Position
Time (t)