YASKAWA SGDH User Manual page 500

8 Operation
8.8.3 Operating Using an Internally Set Speed
• 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 8.5.4 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)
Pulse reference
Note: 1. The soft start function is used in the above figure.
2nd speed
1st speed
Stop
0
OFF OFF ON
OFF ON ON
ON ON
Motor speed
-1
0 min
/COIN
/P-CL (/SPD-A) OFF
/N-CL (/SPD-B) ON
Selected speed
1st speed
2. The t 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).
3rd speed
Acceleration/deceleration are
done for the soft start times set in
Pn305 and Pn306.
Stop
1st speed
ON OFF OFF
OFF OFF ON
ON OFF OFF
Signal Timing in Position Control
ON ON
ON OFF
2nd speed 3rd speed
8-68
Stop
2nd speed
3rd speed
ON ON OFF
ON OFF OFF
OFF OFF OFF
t1
OFF
OFF
Pulse reference
t1 2 ms
t1
OFF
ON
1st speed