Control Mode Selection; Setting Parameters; Switching The Control Mode - YASKAWA E-II Series User Manual

8 Operation

8.10.1 Setting Parameters

8.10 Control Mode Selection

The methods and conditions for switching SERVOPACK control modes are described below.

8.10.1 Setting Parameters

The following combinations of control modes can be selected according to the application at hand.
Parameter
Pn000

8.10.2 Switching the Control Mode

(1) Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6)
With the sequence input signals in the factory setting (Pn50A = n.
both /P-CL (/SPD-A) and /N-CL (/SPD-B) signals are OFF (high level).
Type
/P-CL
Input
(/SPD-A)
/N-CL
Input
(/SPD-B)
Input Signal Selection
The following two types of control mode selection are available for switching from internally set speed control:
• Switching with the /P-CL and /N-CL input signals (pins allocated in factory setting)
• Switching with the /SPD-A and /SPD-B input signals
When using /SPD-A and /SPD-B, they must be allocated with parameter Pn50C. Refer to 7.3.2 Input Circuit Signal Alloca-
.
tion
(2) Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B)
Use the following signals to switch control modes. The control modes switch as shown below for each of the sig-
nal states indicated.
When changing the sequence input signal from the factory setting (Pn50A = n.
an input terminal and change modes with the /C-SEL signal. In this case, input a speed reference (analog voltage
reference) for speed control, and a position reference (pulse train reference) for position control.
Type
Input
Input
The control mode can be switched with either /P-CON or /C-SEL.
When using the /C-SEL signal, the input signal must be allocated. Refer to 7.3.2 Input Circuit Signal Allocation
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n. 4
Internally set speed control (contact reference)
n. 5
Internally set speed control (contact reference)
n. 6
Internally set speed control (contact reference)
n. 7
Position control (pulse train reference)
n. 8
Position control (pulse train reference)
n. 9
Torque control (analog voltage reference)
n. A
Speed control (analog voltage reference)
n. B
Position control (pulse train reference)
Signal Connector
Name Pin Number
CN1-45
(Factory setting)
Must be allocated
CN1-46
(Factory setting)
Must be allocated
Signal Connector
Name Pin Number
CN1-41
/P-CON
(Factory setting)
/C-SEL Must be allocated
Control Method
⇔
Speed control (analog voltage reference)
⇔
Torque control (analog voltage reference)
⇔
⇔
⇔
Position control (inhibit)
Setting
OFF (high level)
Switches control mode.
OFF (high level)
Setting
n. 7
ON (low level) Speed
OFF (high level) Position
ON (low level) Speed
OFF (high level) Position
⇔
Speed control (analog voltage reference)
⇔
Position control (pulse train reference)
⇔
Torque control (analog voltage reference)
Speed control (analog voltage reference)
Zero clamp
0), the control mode will switch when
Meaning
1), allocate the /C-SEL to
Pn000 Setting
n. 8 n. 9 n.
Zero
Torque Speed
clamp
Position Torque Speed
Zero
Torque Speed
clamp
Position Torque Speed
A n. B
Inhibit
Position
Inhibit
Position
.