YASKAWA JUSP-MD D01A Series User Manual page 161

The following diagram describes an operation example for internal set speed control + soft start ↔ position
control.
Motor speed
+SP EED3
+SP EED2
+SP EED1
0
-S P E E D 1
-S P E E D 2
-S P E E D 3
/COIN
Reference pulse
/ P-CL
/ N-CL
Reference
Note 1. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL and /N-CL.
2. The speed is decelerated for the time set in Pn306, and the internal set speed control will be changed to the posi-
tion control after the servomotor comes to a stop.
(2) Changing Input Signal Allocations (Pn50A.0 = 1)
The control method can be switched by turning the /C-SEL signal ON/OFF.
Signal Connector
Type
Name Pin Number
Must be
Input /C-SEL
allocated
Note: Use parameter Pn50C.3 to allocate the /C-SEL signal for use. For details, refer to 3.4.1 Input Signal Allocations.
The following table shows the speed and direction in accordance with settings for the input signals for the set-
ting for internal set speed control when the /C-SEL signal is OFF.
Input Signal
/SPD-D /SPD-A
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
ON
ON
Note: Use parameter Pn50C.0 to 2 to allocate the /SPD-D, /SPD-A, and /SPD-B signals for use. For details, refer to 3.4.1
Input Signal Allocations.
ON
ON
OFF OFF
ON
ON
OFF OFF
2nd
Switching
1st speed 3rd speed
speed
Internal set speed control
Setting
ON (closed) Speed
OFF (open) Internal set speed
/SPD-B
OFF Stops at internal set speed 0.
ON Forward rotation at internal set speed 1 set in Pn301.
ON Forward rotation at internal set speed 2 set in Pn302.
OFF Forward rotation at internal set speed 3 set in Pn303.
OFF Stops at internal set speed 0.
ON Reverse rotation at internal set speed 1 set in Pn301.
ON Reverse rotation at internal set speed 2 set in Pn302.
OFF Reverse rotation at internal set speed 3 set in Pn303.
5.7 Combination of Control Methods
Decelerating to a stop
t1
OFF
OFF
Pulse 1st speed
Internal
set speed
Position control
control
Pn000 Setting and Control Method
n.4 n.5
Position
Internal set speed
Speed and Direction
OFF
ON
n.6
Torque
Internal set speed
5-53
5