Selecting Combined Control Methods; Setting Pn000 = N.X (Control Method Selection) To 4, 5, Or 6 - YASKAWA E-7-Series SGD7S Product Manual

6.10

Selecting Combined Control Methods

You can specify switching the SERVOPACK between two control methods. To combine control
methods, set Pn000 = n.X (Control Method Selection) to between 4 and B. This section
describes how to switch between the methods and the switching conditions.
Parameter

n.

n.

n.

n.
Pn000

n.

n.

n.

n.
6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5,
or 6
The conditions for switching between internal set speed control and another control method
are given below.
When Using the Default Input Signal Allocations (Pn50A =
n.0)
You can use the /SPD-A and /SPD-B (Internal Set Speed Selection) signals to change the con-
trol method and select the internal set speed.
You can switch between speed control, position control, or torque control and internal set
speed control even while the Servomotor is operating.
• Rotary Servomotors
Input Pins
/SPD-D /SPD-A
(CN1-41) (CN1-45)
OFF
ON
6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6
Combined Control Methods
Internal set speed

4
control
Internal set speed

5
control
Internal set speed

6
control

7 Position control

8 Position control

9 Torque control
Speed control with

A
external references
Normal position con-

B
trol
Motor
/SPD-B
Direction
(CN1-46)
OFF OFF
OFF ON
Forward
ON ON
ON OFF
OFF OFF
OFF ON
Reverse
ON ON
ON OFF

6.10 Selecting Combined Control Methods

Speed control with
⇔
external references
⇔
Position control
⇔
Torque control
Speed control with
⇔
external references
⇔
Torque control
Speed control with
⇔
external references
Speed control with
⇔
zero clamping
Position control with
⇔
reference pulse inhibi-
tion
Operation for Setting of Pn000 = n.X
 
n. 4 n.
Speed control Position control
Operates the motor with internal set speed 1, which is set
in Pn301.
Operates the motor with internal set speed 2, which is set
in Pn302.
Operates the motor with internal set speed 3, which is set
in Pn303.
Speed control Position control
Operates the motor with internal set speed 1, which is set
in Pn301.
Operates the motor with internal set speed 2, which is set
in Pn302.
Operates the motor with internal set speed 3, which is set
in Pn303.
When Enabled Classification
After restart Setup
   
5 n. 6
Torque control
Torque control
6
6-55