YASKAWA Sigma II Series User Manual page 107

Sigma II User's Manual
Pn000.1
Speed Control: When /P-CON (/C-SEL) is ON
Set the parameter Pn002.0 as shown below.
Parameter
Pn002.0
9
Position Control ⇔
Can be used to switch between speed (contact reference) and torque control.
•/P–CON (/C–SEL)(CN1–41) is used to switch control.
8
Speed Control (Contact Reference) ⇔
Can be used to switch between speed (contact reference) and torque control.
6
Note: Input signal /C-SEL can be used only when a signal is allocated to the input circuit. See 5.3.3 Input
Circuit Signal Allocation.
Speed Reference
Input
State (V-REF) (CN1-5,6)
Speed Control
0
Speed Reference
Torque limit speed control by analog voltage
reference
1
Speed Reference
Speed control with torque feed-forward
2
Speed reference
⇔ Torque Control
•/P-CON (/C-SEL)(CN1-45) and /N-CL(SPD-B)(CN1-46) are used to switch control.
Parameter
/P-CL (/SPD-A)
CN1-45
State
0
0
1
1
Chapter 5: Parameter Settings and Functions
Control Method
Torque Reference Input
(T-REF) (CN1-9,10)
Cannot be used.
Torque Limit
Torque feed-forward
CN1-41
Selects
State
Open Position Control
0V Torque Control
⇔ Torque Control
Parameter
/N-CL (/SPD-N)
CN1-46
State
0 Torque Control
1
Speed Control
1
(Contact reference)
0
5-40
Comments
See 5.2.9 for more details
on torque limit speed
control by analog voltage
reference.
See 5.2.8 for more details
on torque feed-forward
speed control.