Selecting Combined Control Methods; Setting Pn000 = N.X (Control Method Selection) To 7, 8, Or 9 - YASKAWA SGD7S series Product Manual

6.10 Selecting Combined Control Methods

6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6
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
Pn000
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
/SPD-D
(CN1-41)
OFF
ON
6-58
Combined Control Methods
Internal set speed
 
n. 4
control
Internal set speed
 
n. 5
control
Internal set speed
 
n. 6
control
 
n. 7 Position control
 
n. 8 Position control
 
n. 9 Torque control
Speed control with
 
n. A
external references
Normal position con-
 
n. B
trol
Input Pins
/SPD-A /SPD-B
(CN1-45) (CN1-46)
OFF OFF
OFF ON
ON ON
ON OFF
OFF OFF
OFF ON
ON ON
ON OFF
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
Motor
Direction
 
n. 4
Speed control
Operates the motor with internal set speed 1, which is set
in Pn301.
Forward
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
Operates the motor with internal set speed 1, which is set
in Pn301.
Reverse
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
  
n. 5 n.
Position control Torque control
Position control Torque control
Setup

6