YASKAWA SGD7S series User Manual

6.10 Selecting Combined Control Methods
6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6
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6.10 Selecting Combined Control Methods
You can specify switching the SERVOPACK between two control methods. To combine control
methods, set Pn000 = n.X (Control Method Selection) to between 4 and B. This section
describes how to switch between the methods and the switching conditions.
6.10.1 Setting Pn000 = n.  X  (Control Method Selection) to 4, 5,
or 6
The conditions for switching between internal set speed control and another control method
are given below.
When Using the Default Input Signal Allocations (Pn50A =
n.0)
You can use the /SPD-A and /SPD-B (Internal Set Speed Selection) signals to change the con-
trol method and select the internal set speed.
You can switch between speed control, position control, or torque control and internal set
speed control even while the Servomotor is operating.
• Rotary Servomotors
Parameter Combined Control Methods When Enabled Classification
Pn000
n.4
Internal set speed
control
⇔
Speed control with
external references
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 with
external references
n.
8 Position control ⇔ Torque control
n.
9 Torque control ⇔
Speed control with
external references
n.
A
Speed control with
external references
⇔
Speed control with
zero clamping
n.
B
Normal position con-
trol
⇔
Position control with
reference pulse inhibi-
tion
Input Pins
Motor
Direction
Operation for Setting of Pn000 = n.X
/SPD-D
(CN1-41)
/SPD-A
(CN1-45)
/SPD-B
(CN1-46)
n.4 n.5 n.6
OFF
OFF OFF
Forward
Speed control Position control Torque control
OFF ON
Operates the motor with internal set speed 1, which is set
in Pn301.
ON ON
Operates the motor with internal set speed 2, which is set
in Pn302.
ON OFF
Operates the motor with internal set speed 3, which is set
in Pn303.
ON
OFF OFF
Reverse
Speed control Position control Torque control
OFF ON
Operates the motor with internal set speed 1, which is set
in Pn301.
ON ON
Operates the motor with internal set speed 2, which is set
in Pn302.
ON OFF
Operates the motor with internal set speed 3, which is set
in Pn303.

YASKAWA SGD7S series Specifications

General

Series	SGD7S
Safety	STO (Safe Torque Off)
Humidity	90% RH or less (non-condensing)
Control Method	PWM Control
Communication	EtherCAT, MECHATROLINK-III, MECHATROLINK-II
Output Power	0.1 kW to 15 kW
Feedback System	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Overheating, Encoder Error
Ambient Temperature	0 to 55°C
Storage Temperature	-20 to 85°C
Vibration Resistance	5.9 m/s²
Installation	Panel mounted
Certifications	CE, UL, cUL