YASKAWA SGM series User Manual page 134

TRQMSW Mode Switch
(Torque
Reference)
Cn-0C
REFMSW Mode Switch
(Speed
Cn-0D Reference)
ACCMSW Mode Switch
(Acceleration
Cn-0E
Reference)
ERPMSW Mode Switch
(Error Pulse)
Cn-0F
Mode switch is used to reduce settling time and
suppress undershoot when the motor stops. It
switches PI control to P control when certain
conditions are met.
The Servopack allows use of four different types of mode switch. To select a mode switch,
set bits B, C and D of memory switch Cn-01.
Memory Switch
Mode Switch Set-
Cn-01
Bit D Bit C Bit B
Does not use
− − 1
mode switch.
Uses torque refer-
0 0 0 ence as a detec-
tion point.
Uses speed refer-
0 1 0 ence as a detec-
tion point.
Uses acceleration
1 0 0 reference as a
detection point.
Uses error pulse
1 1 0 as a detection
point.
User constant Cn-0F is for position control (SGDA-jjjP) only. For speed/torque con-
trol (SGDA-jjjS), Cn-0F is used to set a zero-clamp level.
Unit: % Setting
Range: 0
to
Maximum
Torque
Unit: Setting
r/min Range: 0
to
Maximum
Speed
Unit: 10 Setting
(r/min)/s Range: 0
to 3000
Unit: Setting
Refer- Range: 0
ence to 10000
Unit
User Constant User Constant
ting ting
Cn-0C
Cn-0D
Cn-0E
Cn-0F
3.6 Minimizing Positioning Time
Factory For
Setting: Speed/Torque
200 Control and
Position Control
Factory For
Setting: 0 Speed/Torque
Control and
Position Control
Factory For
Setting: 0 Speed/Torque
Control and
Position Control
Factory For Position
Setting: Control Only
10000
Actual motor
Reference
operation
Speed
Time
Settling time
Unit Unit
Percentage of rated
torque: %
Motor speed: r/min
Acceleration reference in-
side the SGD Servopack:
10 (r/min)/s
Reference unit
3
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