YASKAWA E-7-Series SGD7S Product Manual page 225

6.10 Selecting Combined Control Methods
6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6
• Linear Servomotors
/SPD-D
(CN1-41)
OFF
ON
An example of operation for Pn000 = n.5 (Switching between internal set speed control
and position control) is given below. This example combines speed control with the internal set
speeds with the soft start function. The shock that results from speed changes is reduced by
using the soft start function.
Motor speed
+SPEED3
+SPEED2
+SPEED1
/COIN signal
Reference pulses
/SPD-A signal
/SPD-B signal
Reference
Note: 1. Set t1 so that it is greater than 2 ms. The value of t1 is not affected by whether the soft start function is
2. A maximum delay of 2 ms occurs in reading the /SPD-A and /SPD-B signals.
3. The speed is decelerated with the deceleration time set in Pn306 (Soft Start Deceleration Time), and inter-
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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
0
-SPEED1
-SPEED2
-SPEED3
OFF ON
ON ON
Speed 1 Speed 2 Speed 3
Internal set speed control
used.
nal set speed control is changed to position control after the Servomotor comes to a stop.
The pulse train reference is received after the switch to position control. Always wait until after position
control is started before you input the pulse train reference from the host computer. After position control is
started, the /COIN (Positioning Completion) signal is output. Use the /COIN signal to confirm that the con-
trol method has changed.
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 Pn380.
Forward
Operates the motor with internal set speed 2, which is set
in Pn381.
Operates the motor with internal set speed 3, which is set
in Pn382.
Speed control
Operates the motor with internal set speed 1, which is set
in Pn380.
Reverse
Operates the motor with internal set speed 2, which is set
in Pn381.
Operates the motor with internal set speed 3, which is set
in Pn382.
Decelerating to a stop
t1
ON OFF OFF
OFF OFF OFF
Switching Pulses
Position control
  
n. 5 n.
Position control Force control
Position control Force control
Analog
OFF
ON
Speed 1
Internal set
speed control

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