YASKAWA SGLFW User Manual page 334

• Example of Operating with Internally Set Speed Selection
The shock that results when the speed is changed can be reduced by using the soft start function.
For details on the soft start function, refer to 9.7.4 Soft Start.
Example: Operation with an Internally Set Speed and Soft Start
Servomotor speed
+SPEED3
+SPEED2
+SPEED1
- SPEED1
- SPEED2
- SPEED3
/P-CL (/SPD-A)
/N-CL (/SPD-B)
/P-CON( /SPD-D)
When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start function will operate only
IMPORTANT
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output of the pulse reference from the host controller after the
positioning completed (/COIN) signal is output from the SERVOPACK.
Example: Operation with an Internally Set Speed and Soft Start ⇔ Position Control (Pulse Train Reference)
Motor speed
/COIN
Pulse reference
/P-CL (/SPD-A)
/N-CL (/SPD-B)
Selected speed
Note: 1. The soft start function is used in the above figure.
2. The t
3rd speed
2nd speed
1st speed
Stop
0
OFF OFF ON
OFF ON ON
ON ON
Signal Timing in Position Control
0 mm/s
OFF ON
ON ON
2nd speed
1st speed
value is not affected by whether the soft start function is used.
1
A maximum delay of 2 ms occurs in loading /P-CL (/SPD-A) and /N-CL (/SPD-B).
9.10 Operating Using Speed Control with an Internally Set Speed
Acceleration/deceleration are
done for the soft start times set in
Pn305 and Pn306.
Stop
1st speed
2nd speed
ON OFF OFF ON
OFF OFF ON ON
ON OFF OFF OFF
ON
OFF
3rd speed
Stop
3rd speed
ON OFF
OFF OFF
OFF OFF
t1 t1
OFF OFF
ON
OFF
1st speed
Pulse reference
t1 2 ms
9
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