Yaskawa MP920 Motion Module - Manual (Page 47)

2.2 Control Modes
2-21
2
Ladder Logic Program Example
Fig. 2.10 RUN Command (DWG H04)
The example in the above illustration has been greatly simplified. In actual operation, each
register can be controlled from the user program.
H0188
RUNMOD
OWC000
MW00040
× SW00004
K1 TsH
÷ MW00041
K2 KS
ML03010
10000
FFGAIN
MW03012
RUN
OBC0010
PREPARE
MB010010
PHASE REFERENCE
DISPLACEMENT PATTERN DISPLACEMENT X
DISPLACEMENT X
PREVIOUS VALUE CHANGE
CHANGE
RUN command
ML03030
MA03050
FGN
ML03020
ML03020 ML03022 -ML03024
00000
MB010020
[
[ [ [
] ×
] ]
ML03022 MW03012
FFGAIN
Position BIAS DISPLACEMENT X
DISPLACEMENT X PREVIOUS VALUE
÷ ML03010
KS NREF
OWC015
ML03022] + +MW03020
PHBIAS
OLC016
ML03020 ML03024
DEND
Set the phase control mode to ON.
Set Phase Reference Generation Operation
Disable to ON.
Calculate the speed scalling constant (ks).
High-speed scan setting: SW0004
Feed forward gain [10000/100%]
Drive RUN command (RUN)
When MB01010 turns ON, phase control
starts.
The phase reference displacement [pulse] is
read from the FGN function.
Displacement X
The FGN pattern is set in advance.
Changes [pulses] per scan
When RUN command MB010020 turns ON,
the machine operates at the reference speed
NREF. When MB010020 turns OFF, the refer-
ence speed NREF remains at "0."
Standard speed reference setting [0.01%]
Phase compensation setting [pulse]
Phase reference previous displacement value
[pulse]
Position
reference
* Reduce the fraction to the lowest terms
so that it can be stored as one word.
Numerator* MW00040
Denominator* MW00041 NR × FBppr × n
NR = Rated speed
FBppr = Number of feedback pulses
n = Number of pulse multipliers (1, 2 or 4)
60 × 10 4