YASKAWA E-V Series User Manual page 154

• When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start
function will operate only when selecting the internally set speed. The soft start func-
tion cannot be used with pulse reference input.
• When switching to pulse reference input during operation at either of the three speeds
(1st speed to 3rd speed), the pulse reference will not be received by the SERVO-
PACK until after the positioning completed (/COIN) signal is output. Always begin the
output of the pulse reference from the host controller after the positioning completed
(/COIN) signal is output from the SERVOPACK.
Motor speed
0 mm/s
/COIN
Pulse reference
/P-CL OFF
/N-CL ON
1st speed 2nd speed
Selected speed
Note 1. The soft start function is used in the above figure.
2. The t1 value is not affected by whether the soft start function is used.
3. The speed is decelerated for the time set in Pn306, and the speed control will be
4. The position control can be changed to the speed control while the motor is
5.6 Operating Using Speed Control with an Internally Set Speed
Signal Timing in Position Control
Decelerating to a stop
ON ON
ON OFF
Switching Switching Switching
3rd speed
A maximum delay of 2 ms occurs in loading /P-CL and /N-CL.
changed to the position control after the motor comes to a stop.
moving.
t1
OFF OFF
ON
OFF
1st speed
Pulse reference
t1 2 ms
5
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