Bit Allocation Of Servo Command Output Signals - YASKAWA S-7 Series Command Manual

2.6 Servo Command I/O Signal (SVCMD_IO)

2.6.1 Bit Allocation of Servo Command Output Signals

2.6 Servo Command I/O Signal (SVCMD_IO)
This section describes the servo command I/O signal monitoring.
2.6.1 Bit Allocation of Servo Command Output Signals
Byte 8 to byte 11 of the command format are specified as the SVCMD_IO (output) field.
The servo command output signals are signals output to the slave station.
Note that the designation in this field is valid even when a CMD_ALM has occurred.
SVCMD_IO (Output) Field
bit 7
N_CL
bit 15
bit 23
Reserved
bit 31
Details of Output Signal Bits
The following table shows the details of the output signal bits.
bit
2-22
bit 6 bit 5
P_CL P_PPI
bit 14 bit 13
Reserved (0)
bit 22 bit 21
SO3 SO2
bit 30 bit 29
Name
V_PPI
4
Switches the speed control from PI control to P control.
Used for adjusting the settling time by suppressing overshoot during acceleration.
P_PPI
5
Switches the position control automatically from PI control to P control.
Used for shortening the settling time by suppressing overshoot during positioning move-
ment.
P_CL
6
Used to select whether the forward torque is clamped or not according to the forward
torque limit (common parameter: 8C).
N_CL
7
Used to select whether the reverse torque is clamped or not according to the reverse torque
limit (common parameter: 8D).
bit 4 bit 3
V_PPI
bit 12 bit 11
bit 20 bit 19
SO1
bit 28 bit 27
Reserved (0)
Description
Speed Loop P/PI Control
Position Loop P/PI Control
Forward Torque Limit
Reverse Torque Limit
bit 2 bit 1
Reserved (0)
bit 10 bit 9
G-SEL
bit 18 bit 17
BANK_SEL
bit 26 bit 25
Value Setting
0 PI control
1 P control
0 PI control
1 P control
Torque not
0
clamped
1 Torque clamped
Torque not
0
clamped
1 Torque clamped
Continued on next page.
bit 0
bit 8
bit 16
bit 24
Enabled
Timing
Level
Level
Level
Level