YASKAWA SGD7S series Product Manual page 257

• Linear Servomotors
Input Pins
/SPD-D /SPD-A /SPD-B
(CN1-41) (CN1-45) (CN1-46)
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
ON
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 peed
+ PEED
+ PEED2
+ PEED1
0
- PEED1
- PEED2
- PEED
/COIN ignal
Reference pul e
/ PD-A ignal
OFF
/ PD-B ignal
ON
peed 1
Reference
Internal et peed control
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
used.
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-
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.
6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6
Motor
Direction
n.
OFF Speed control
Operates the motor with internal set speed 1, which is set
ON
in Pn380.
Forward
Operates the motor with internal set speed 2, which is set
ON
in Pn381.
Operates the motor with internal set speed 3, which is set
OFF
in Pn382.
OFF Speed control
Operates the motor with internal set speed 1, which is set
ON
in Pn380.
Reverse
Operates the motor with internal set speed 2, which is set
ON
in Pn381.
Operates the motor with internal set speed 3, which is set
OFF
in Pn382.
Decelerating to a top
ON ON OFF
ON
OFF OFF
peed 2 peed
witching
6.10 Selecting Combined Control Methods
Operation for Setting of Pn000 = n.X
   
4 n. 5
Position control
Position control
t1
OFF OFF
ON
OFF
Pul e peed 1
Internal et
Po ition control
peed control
 
n. 6
Force control
Force control
6
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