Speed/Position/Torque Control Modes - YASKAWA SGMJV User Manual

1 Outline

1.3.3 Speed/Position/Torque Control Modes

1.3.3 Speed/Position/Torque Control Modes

The following table shows the basic specifications at speed/position/torque control mode.
Speed Control
Position Control
Torque Control
1-6
Control Mode
Performance Soft Start Time Setting
Reference Voltage
Input
Signals
Input Impedance
Circuit Time Constant 30 μs
Rotation Direction
Selection
Internal Set
Speed Control
Speed Selection
Feedforward
Compensation
Performance
Positioning
Completed Width
Setting
Input
Signals
Clear Signal
Reference Voltage
Input
Signals
Input Impedance
Circuit Time Constant 16 μs
0 to 10 s (Can be set individually for acceleration and
deceleration.)
• Max. input voltage: ±12 V
(forward speed reference with positive reference)
• Factory setting: 6 VDC at rated speed
Input gain setting can be varied.
About 14 kΩ minimum
With P control signal
With forward/reverse torque limit signal (speed 1 to 3
selection), servomotor stops or another control method is
used when both are OFF.
0 to 100% (setting resolution: 1%)
0 to 1073741824 reference units (setting resolution: 1 ref-
erence unit)
Sign + pulse train, 90° phase difference 2-phase pulse
Type
(phase A + phase B), or CW + CCW pulse train
Form For line driver, open collector
Refer-
Line driver
ence
Sign + pulse train, CW + CCW phase train: 4 Mpps
Max. Input
Pulse
90° phase difference 2-phase pulse: 1 Mpps
Pulse
Open Collector
Frequency
Sign + pulse train, CW + CCW phase train: 200 kpps
90° phase difference 2-phase pulse: 200 kpps
Error pulse clear
For line driver, open collector
• Max. input voltage: ±12 V
(forward torque reference with positive reference)
• Factory setting: 3 VDC at rated torque
Input gain setting can be varied.
About 14 kΩ minimum
Specifications