Operating Procedure - YASKAWA SGD7S-R70A20A023F40B Product Manual

4.4

Operating Procedure

Speed/torque (pressure) table operation is controlled with the VELCTRL speed control com-
mand in MECHATROLINK-III communications.
This section provides the operating procedure for speed/torque (pressure) table operation.
1.
Set Pn440 to n.1 (Enable pressure feedback control).
2.
Send the SV_ON (Servo ON) command.
3.
Other station monitoring is set and checked only when you use the FT41.
Refer to the following section for details.
3.6.3
Setting and Checking Other Station Monitoring
4.
Set bits 28 and 29 in the SVCMD_IO area of the VELCTRL command to 1.
• SVCMD_IO (Output) Area
Bit 7
N_CL
Bit 15
Bit 23
Reserved.
Bit 31
Reserved (0).
• Output Signal Bit Descriptions
Bit
28
29
Do not use the CMD_PAUSE (Pause) or CMD_CANCEL (Cancel) commands during speed/torque
(pressure) table operation. The send timing will affect behavior and may prevent normal control
operations.
Important
on page 3-10
Bit 6 Bit 5 Bit 4
P_CL P_PPI V_PPI
Bit 14 Bit 13 Bit 12
Reserved (0).
Bit 22 Bit 21 Bit 20
SO3 SO2 SO1
Bit 30 Bit 29 Bit 28
Speed/
Speed/ Torque
Torque (Pressure)
(Pressure) Table
Table Operation
Operation Prepara-
Reference tions Start
Bit
Command Value
Speed/Torque (Pres-
sure) Table Operation
Preparations Start Bit
If bit 28 is ON, the VELCTRL command is interpreted as a speed/torque (pressure)
table operation command.
Speed/Torque (Pres-
sure) Table Operation
Reference
If bit 28 is OFF, only VELCTRL commands are acknowledged.
Bit 3 Bit 2
Reserved (0).
Bit 11 Bit 10
Bit 19 Bit 18
BANK_SEL
Bit 27 Bit 26
Reserved (0).
Setting
0 Do not start.
Start reception of speed/torque
1 (pressure) table operation com-
mands.
0 No command, or cancel operation.
Start speed/torque (pressure) table
1
operation.

4.4 Operating Procedure

Bit 1 Bit 0
Bit 9 Bit 8
G-SEL
Bit 17 Bit 16
Bit 25 Bit 24
When
Enabled
Level
Level
4
4-13