I/O Monitor Specifications - YASKAWA SGM Series User Manual

MECHATROLINK Communications

6.4.2 I/O Monitor Specifications

IMPORTANT
6
IMPORTANT
6.4.2 I/O Monitor Specifications
Acceleration/Deceleration Filter Type Selection (D3 and D4 )
Three types of acceleration and deceleration can be selected with the SGDB-jjjN.
Type
0
1
2
1.
All bits except D3 and D4 must be set to 0.
2. Acceleration/deceleration types can only be switched when DEN (acceleration/deceleration filter output
complete) is set to 1. Never switch acceleration/deceleration types when DEN is set to 0.
Yaskawa cannot guarantee how the SERVOPACK will act if the two items above are not followed exactly.
J Speed Loop P/PI Control Switching
D7
04
0
D Speed Loop P Control Switching (D4)
The SGDB-jjjN is has a function that switches the speed loop between PI and P control
in real time.
D4
0 PI control (switches to P control via mode switch settings)
1
P control
This function suppresses undershooting and shortens positioning complete time when the
Servomotor is stopped.
All bits except D4 must be set to 0, otherwise Yaskawa cannot guarantee how the SERVOPACK will act.
N-OT and P-OT are output monitoring as a logic OR with the software limits (N-SOT, P-SOT).
The OT is output as the OT (overtravel) even at the software limits.
Acceleration/Deceleration Filter Type
Linear acceleration/deceleration (no filter)
Exponential acceleration/deceleration
S-curve acceleration/deceleration (running
average)
D6 D5 D4
0 0
Speed loop P/PI control
switching (1: P control)
Speed Loop Control
6 -8
Related Parameters
−
Cn-002D, 002E
Cn-0026
D3 D2 D1
0 0 0
D0
0