Yaskawa MP2200 Machine Controller - Manual (Page 452)

8 SVR Virtual Motion Module
8.3.2 Motion Command Details
8-36
( 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 settings of the Speed Reference (NREFF) (OL††10), Speed
Amends (+NCOM) (OW††31), and Secondary Speed Compensation (+NCOM2)
(OL††16).
• Machine Coordinate Target Position (TPOS) (IL††0E)
• 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.
100%
0
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
Linear acceleration
time
Linear deceleration
time
Feed speed
Rated speed
Speed (%)
Time (t)
Position
(integral of
speed
reference)