YASKAWA SVC - Page 243

4.2 Motion Command Details
4.2.24 PHASE (Issue Phase Reference)
4-100
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Address
Name Setting Details
OW
00
Bit 0
Servo ON
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 25 (PHASE).
0: OFF, 1: ON
OW
02
Bit 8 to F
Stop Mode Selection
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration
Time Constant parameter 1: Stop immediately
OW
03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW
05
Bit 1
Disable Phase Refer-
ence Calculation
Use this bit to enable or disable phase reference calculations when
the PHASE command is executed. This setting determines if pro-
cessing is optimized for electronic shafts or electronic cams.
Setting Precautions
• Phase reference calculation must be enabled when an electronic
shaft application is used.
• If you use an electronic cam applications, disable it.
OW
08 Motion Commands
Phase control operation is started when this parameter is set to 25
(PHASE).
OW
09
Bit 6
Electronic Cam Phase
Compensation Type
If a system with an electronic cam is used, set this parameter to
select the method for setting the phase compensation for the refer-
ence value of the cam pattern.
0: Incremental value addition method,
1: Absolute value specification method
OL
0C
Torque/Force Reference
Setting or Torque Feed-
forward Compensation
Set the torque feedforward amount during the issue phase reference
operation.
OL10
Speed Reference Set-
ting
Set the speed reference. This parameter can be changed during
operation.
The unit depends on the set value of bits 0 to 3 in OW03.
OW
12 Speed Limit
Set the upper speed limit as a percentage of the rated speed. This
value is an absolute value. It is used in both the forward and reverse
directions.
OL
14 Torque/Force Limit Set the torque limit for the issue phase reference operation.
OL16
Second Speed Com-
pensation
Set the speed feedforward amount during execution of the PHASE
command.
The setting unit for the OW31 setting parameter is always
0.01%. However, the unit for this parameter can be selected. When
this parameter is used at the same time as OW31, speed com-
pensation is performed twice.
OL28
Phase Compensation
Setting
Set the phase bias in reference units.
Setting Precautions
• When an electronic shaft application is used, set the control bias.
• When an electronic cam application is used, this parameter speci-
fies the target position for the cam pattern.
OW
31 Speed Compensation
Set the speed feedforward amount as a percentage of the rated
speed.
The setting unit for this parameter is always 0.01%.
OW
3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected
in bits 8 to B in OW03.
This setting can be changed only when distribution has been com-
pleted (i.e., when bit 0 in IW0C is 1).