Yaskawa JAPMC-MC2300 - Manual (Page 223)

7.2 Motion Command Details
7.2.11 Phase References (PHASE)
7-83
7
Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when Aborted
IW 0C
Bit 3
NEAR Position
The operation depends on the setting of NEAR Signal Output Width (setting param-
eter OL
20).
OL 20 = 0:Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
OL 20 ≠ 0:Turns ON when the absolute value of the difference between
MPOS (IL 12) and APOS (IL 16) is less than the NEAR
Position Setting, even if pulse distribution has not been completed.
OFF in all other cases.
(cont’d)
Parameter Name Monitor Contents
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
Undefined length of time 1 scan
The speed reference value is automatically refreshed every scan.
Position control mode Phase control mode
Undefined length of time
Position control mode Phase control mode
IW 0C, bit 1 (POSCOMP)
1 scan
OW 08 = 25 (PHASE)
IW 09, bit 0 (BUSY)
IW 08 = 25 (PHASE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 09, bit 8 (COMPLETE)
The speed reference is refreshed every scan.
Speed control mode