Important – Yaskawa SGDH Linear Sigma Series User Manual
Page 311
9.10 Operating Using Speed Control with an Internally Set Speed
9-67
9
• 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
When Pn000.1 = 5 (Internally set speed control
⇔ Position control), the soft start function will operate only
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)
Note: 1. The soft start function is used in the above figure.
2. The t
1
value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL (/SPD-A) and /N-CL (/SPD-B).
-SPEED1
Servomotor speed
+SPEED3
+SPEED2
+SPEED1
-SPEED2
-SPEED3
0
OFF
ON
Stop
/P-CL (/SPD-A)
/N-CL (/SPD-B)
/P-CON( /SPD-D)
Stop
Stop
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
Acceleration/deceleration are
done for the soft start times set in
Pn305 and Pn306.
1st speed
1st speed
2nd speed
2nd speed
3rd speed
3rd speed
IMPORTANT
/N-CL (/SPD-B)
/P-CL (/SPD-A)
ON
Selected speed
ON
OFF
ON
OFF
OFF
OFF
Pulse reference
ON
OFF
ON
/COIN
Pulse reference
0 mm/s
Motor speed
t1
t1 2 ms
Signal Timing in Position Control
t1
1st speed
2nd speed 3rd speed
1st speed