Yaskawa Sigma II Series Servo System - Manual (Page 146)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5-60
Position Control (Pulse Train Reference)
This mode controls positioning using a pulse train input reference. See 5.2.2
Position Reference.
Torque Control (Analog Reference)
This mode controls torque using an analog voltage input reference. See 5.2.7 Using
Torque Control.
Contact Input Speed Control Selection (Contact Reference)
This mode uses the /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL (/SPD-B) input
signals to control speed as it switches among the three preset operating speeds in the
servo amplifier. See 5.2.6 Contact Input Speed Control.
Contact Input Speed Control Selection (Contact Reference) ↔
Speed Control (Analog Reference)
This mode controls speed by switching between contact reference and analog
voltage reference speed control. Analog voltage reference speed control is enabled
when both /P-CL (/SPD-A) and /N-CL (/SPD-B) input signals are OFF (high level).
See 5.2.6 Contact Input Speed Control.
Contact Input Speed Control Selection (Contact Reference) ↔
Position Control (Pulse Train Reference)
This mode switches between contact reference speed control and pulse train
reference position control. Pulse train reference position control is enabled when
both /P-CL (/SPD-A) and /N-CL (/SPD-B) input signals are OFF (high level). See
5.2.6 Contact Input Speed Control.
Contact Input Speed Control Selection (Contact Reference) ↔
Torque Control (Analog Reference)
This mode switches between contact reference speed control and analog voltage
reference torque control. Torque control using an analog voltage reference is
enabled when both /P-CL (/SPD–A) and /N-CL (/SPD-B) input signals are OFF
(high level). See 5.2.6 Contact Input Speed Control.
Position Control (Pulse Train Reference) ↔ Speed Control (Analog
Reference)
This mode switches between position and speed control through the /P-CON
(/C-SEL) signal.