Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 117)

5.1 Control Method Selection
5-3
5
Ope
rat
ion
5.1 Control Method Selection
The control method supported by the SGDV SERVOPACK are described below.
The control method can be selected with parameter Pn000.
Control Method Selection
Pn.000.1 Control Description
Reference
Section
n. 0
[Factory setting]
Speed Control
Controls servomotor speed by means of an analog voltage speed
reference. Use in the following instances.
• To control speed
• For position control using the encoder pulse output from the
SERVOPACK to form a position loop in the host controller.
5.3 Speed
Control
n. 1 Position Control
Controls the position of the machine by means of a pulse train
position reference.
Controls the position with the number of input pulses, and con-
trols the speed with the input pulse frequency. Use when posi-
tioning is required.
5.4 Position
Control
n. 2 Torque Control
Controls the servomotor’s output torque by means of an analog
voltage torque reference. Use to output the required amount of
torque for operations such as stopping on contact.
5.5 Torque
Control
n. 3
Internal Set Speed Con-
trol
Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A),
and /N-CL (/SPD-B) to control the speed as set in advance in the
SERVOPACK . Three operating speeds can be set in the SER-
VOPACK .
When selecting this control, an analog reference is not necessary.
5.6 Internal
Set Speed
Control
n. 4
Internal Set Speed Con-
trol
↔ Speed Control
These are switching modes for using the four control methods
given above in combination.
Select the control switching method that best suits the applica-
tion.
5.7 Combina-
tion of Control
Methods
n. 5
Internal Set Speed Con-
trol
↔ Position Control
n. 6
Internal Set Speed Con-
trol
↔ Torque Control
n. 7
Position Control ↔
Speed Control
n. 8
Position Control ↔
Torque Control
n. 9
Torque Control ↔
Speed Control
n. A
Speed Control ↔ Speed
Control with Zero
Clamp Function The zero clamp function can be used in speed control.
5.3.5 Zero
Clamp Func-
tion
n. B
Position Control ↔
Position Control with
Reference Pulse Inhibit
Function The reference pulse inhibit function can be used in position con-
trol.
5.4.8 Refer-
ence Pulse
Inhibit Func-
tion