Omron OMNUC W Series User Manual page 286

Operation
H Internally-set Speed Selection
• The following table shows the relationship between SPD1 and SPD2 (speed selection commands 1
and 2), and the internally-set speeds that are selected.
Control mode
setting
Pn000.1 = 3 Stop by speed loop.
Internally-set
speed control
Pn000.1 = 4 Speed control
Internally-set
speed control ↔
Speed control
Pn000.1 = 5 Position control
Internally-set
speed control ↔
Position control
Pn000.1 = 6 Torque control
Internally-set
speed control ↔
Torque control
H Operation Examples
D Internally-set Speed Control Settings Only (Pn000.1 = 3)
Speed selection
command 1
SPD1
Speed selection
command 2
SPD2
Rotation direction
command
RDIR
Servomotor op-
eration
Note 1. There is a maximum delay of 2 ms in reading the input signal.
Note 2. If the position lock function is not used, the servo will stop using the speed loop (i.e., internal
speed command 0 r/min.)
Note 3. Speed command input, pulse train input, and torque command input are ignored.
4-70
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SPD1: OFF
SPD2: OFF SPD2: ON
No. 1 internal speed
setting (Pn301)
No. 1 internal speed
setting (Pn301)
No. 1 internal speed
setting (Pn301)
No. 1 internal speed
setting (Pn301)
Speed 3
Speed 2
Speed 1
Accelerates according to
Pn305 (soft start accelera-
tion time) setting
SPD1: ON
SPD2: OFF
No. 3 internal speed No. 2 internal speed
setting (Pn303) setting (Pn302)
No. 3 internal speed No. 2 internal speed
setting (Pn303) setting (Pn302)
No. 3 internal speed No. 2 internal speed
setting (Pn303) setting (Pn302)
No. 3 internal speed No. 2 internal speed
setting (Pn303) setting (Pn302)
Decelerates according to
Pn306 (soft start decelera-
tion time) setting
Chapter 4
SPD2: ON
Speed 1 (reverse
rotation)