YASKAWA E-7-Series SGD7S Product Manual page 171

6.6.5 /COIN (Positioning Completion) Signal . . . . . . . .6-33
6.6.6 /NEAR (Near) Signal . . . . . . . . . . . . . . . . . . . . . .6-35
6.6.7 Reference Pulse Inhibition Function . . . . . . . . . .6-35
6.7 Torque Control . . . . . . . . . . . . . . . . . . . . . . 6-37
6.7.1 Basic Settings for Torque Control . . . . . . . . . . .6-37
6.7.2 Adjusting the Torque Reference Offset . . . . . . . .6-38
6.7.3 Torque Reference Filter Settings . . . . . . . . . . . .6-42
6.7.4 Speed Limit during Torque Control . . . . . . . . . . .6-42
6.8 Encoder Divided Pulse Output . . . . . . . . . 6-44
6.8.1 Encoder Divided Pulse Output Signals . . . . . . . .6-44
6.8.2 Setting for the Encoder Divided Pulse Output . .6-49
6.9 Internal Set Speed Control . . . . . . . . . . . . 6-51
6.9.1 Input Signals for Internal Set Speed Control . . .6-51
6.9.2 Setting the Control Method to Internal Set
Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . .6-52
6.9.3 Settings for Internal Set Speed Control . . . . . . .6-52
6.9.4 Changing Internal Set Speeds with Input
Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-53
6.10 Selecting Combined Control Methods . . . 6-55
6.10.1 Setting Pn000 = n.X
(Control Method Selection) to 4, 5, or 6 . . . . . . .6-55
6.10.2 Setting Pn000 = n.X
(Control Method Selection) to 7, 8, or 9 . . . . . . .6-58
6.10.3 Setting Pn000 = n.X
(Control Method Selection) to A or B . . . . . . . . .6-58
6.11 Selecting Torque Limits . . . . . . . . . . . . . . . 6-60
6.11.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . .6-60
6.11.2 External Torque Limits . . . . . . . . . . . . . . . . . . . .6-61
6.11.3 Limiting Torque with an Analog Reference . . . . .6-64
6.11.4 Limiting Torque with an External Torque Limit
and an Analog Voltage Reference . . . . . . . . . . .6-66
6.11.5 /CLT (Torque Limit Detection) Signal . . . . . . . . .6-69
6.12 Absolute Encoders . . . . . . . . . . . . . . . . . . 6-70
6.12.1 Connecting an Absolute Encoder . . . . . . . . . . . .6-71
6.12.2 Structure of the Position Data of the Absolute
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-71
6.12.3 Output Ports for the Position Data from the
Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . .6-71
6.12.4 Reading the Position Data from the Absolute
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-72
6.12.5 Transmission Specifications . . . . . . . . . . . . . . . .6-76
6.12.6 Calculating the Current Position in Machine
Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-77
6.12.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder . . . . . . . . . . . . . . . .6-78