Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 169)

5.7 Combination of Control Methods
5-55
5
Ope
rat
ion
5.7 Combination of Control Methods
SERVOPACK can switch the combination of control methods. Select the control method with Pn000.1.
5.7.1
Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
Conditions for switching internal set speed control are as shown below.
(1) Factory-set Input Signal Allocations (Pn50A.0 = 0)
The control method and internal set speed can be switched using /P-CL and /N-CL signals.
It is possible to switch from speed control, position control, or torque control to the internal set speed control
even while the servomotor is rotating.
Parameter Combination of Control Methods When Enabled Classification
Pn000
n. 4 Internal Set Speed Control ⇔ Speed Control
After restart Setup
n. 5 Internal Set Speed Control ⇔ Position Control
n. 6 Internal Set Speed Control ⇔ 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 Func-
tion
n. B
Position Control ⇔ Position Control with Reference
Pulse Inhibit Function
Input Signal Pn000.1 Settings and Operations
/P-CON (CN1-41) /P-CL (CN1-45) /N-CL (CN1-46) n. 4 n. 5 n. 6
OFF
OFF OFF Speed control Position control Torque control
OFF ON Forward rotation at internal set speed 1 set in Pn301.
ON ON Forward rotation at internal set speed 2 set in Pn302.
ON OFF Forward rotation at internal set speed 3 set in Pn303.
ON
OFF OFF Speed control Position control Torque control
OFF ON Reverse rotation at internal set speed 1 set in Pn301.
ON ON Reverse rotation at internal set speed 2 set in Pn302.
ON OFF Reverse rotation at internal set speed 3 set in Pn303.