Yaskawa MP920 Motion Module User Manual
Page 329
7.2 Functions
7-27
7
The following figure shows an example of an application program for out-of-step detection.
Fig. 7.5 Example of an Application Program for Out-of-step Detection
IFON
Out-of-step I/O
MB000000
First high-speed scan
SB000001
DL00002
00000
0000000000
Feedback position (P
i
)
DL00002
0000000000
Reference units (P
i
)
DL00010
SB000004
SB000004
Out-of-step I/O
DB000200
Out-of-step detection
DB00000
ELSE
00000
No.of incre-
mental pulses Number of pulses per
rotation (M)
× 2000
00000
Multiplier (n)
No. of encoder pulses
(N)
× 2000
n*N
÷ DL00004
Quotient
DL00006
Calculated remainder
MOD
Remainder
+ DL00002
DL00000
Feedback position
(P
i-1
)
Feedback position (P
i
)
++DL00006
Quotient
DL00010
Reference position
(M
i-1
)
Reference position
(M
i
)
++ILC02A
No.of output pulses
Remainder
DL00004
n*N
+ DL00002
Remainder
DL00000
DL00010
Reference position (M
i
)
DL00010
--DL00000
DL00008
Error
Feedback position (P
i
)
Workpiece out of step
DB000200
DB000000
Calculated absolute
position
ABS
Error width (
ε)
00200
Workpiece out of step
DB000200
IEND
Out-of-step detection
DB000000
DEND
Initial settings
Calculate the
feedback position
Execute out-of-step
detection calculation