YASKAWA SGD7S series - Page 200

6.6 Position Control . . . . . . . . . . . . . . . . . . . . . 6-30
6.6.1 Basic Settings for Position Control . . . . . . . . . .6-31
6.6.2 CLR (Position Deviation Clear) Signal Function
and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33
6.6.3 Reference Pulse Input Multiplication
Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-34
6.6.4 Smoothing Settings . . . . . . . . . . . . . . . . . . . . . .6-36
6.6.5 /COIN (Positioning Completion) Signal . . . . . . . .6-37
6.6.6 /NEAR (Near) Signal . . . . . . . . . . . . . . . . . . . . . .6-38
6.6.7 Reference Pulse Inhibition Function . . . . . . . . . .6-39
6.7 Torque Control . . . . . . . . . . . . . . . . . . . . . . 6-40
6.7.1 Basic Settings for Torque Control . . . . . . . . . . .6-40
6.7.2 Adjusting the Torque Reference Offset . . . . . . . .6-41
6.7.3 Torque Reference Filter Settings . . . . . . . . . . . .6-45
6.7.4 Speed Limit during Torque Control . . . . . . . . . . .6-45
6.8 Encoder Divided Pulse Output . . . . . . . . . 6-47
6.8.1 Encoder Divided Pulse Output Signals . . . . . . . .6-47
6.8.2 Setting for the Encoder Divided Pulse Output . .6-52
6.9 Internal Set Speed Control . . . . . . . . . . . . 6-54
6.9.1 Input Signals for Internal Set Speed Control . . .6-54
6.9.2 Setting the Control Method to Internal Set
Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . .6-55
6.9.3 Settings for Internal Set Speed Control . . . . . . .6-55
6.9.4 Changing Internal Set Speeds with Input
Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-56
6.10 Selecting Combined Control Methods . . . 6-58
6.10.1 Setting Pn000 = n.X
(Control Method Selection) to 4, 5, or 6 . . . . . . .6-58
6.10.2 Setting Pn000 = n.X
(Control Method Selection) to 7, 8, or 9 . . . . . . .6-61
6.10.3 Setting Pn000 = n.X
(Control Method Selection) to A or B . . . . . . . . .6-61
6.11 Selecting Torque Limits . . . . . . . . . . . . . . . 6-63
6.11.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . .6-63
6.11.2 External Torque Limits . . . . . . . . . . . . . . . . . . . .6-64
6.11.3 Limiting Torque with an Analog Reference . . . . .6-67
6.11.4 Limiting Torque with an External Torque Limit
and an Analog Voltage Reference . . . . . . . . . . .6-69
6.11.5 /CLT (Torque Limit Detection) Signal . . . . . . . . .6-72