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
6
Application Functions
6-59
• Linear Servomotors
An example of operation for Pn000 = n.5 (Switching between internal set speed control
and position control) is given below. This example combines speed control with the internal set
speeds with the soft start function. The shock that results from speed changes is reduced by
using the soft start function.
Note: 1. Set t1 so that it is greater than 2 ms. The value of t1 is not affected by whether the soft start function is
used.
2. A maximum delay of 2 ms occurs in reading the /SPD-A and /SPD-B signals.
3. The speed is decelerated with the deceleration time set in Pn306 (Soft Start Deceleration Time), and inter-
nal set speed control is changed to position control after the Servomotor comes to a stop.
The pulse train reference is received after the switch to position control. Always wait until after position
control is started before you input the pulse train reference from the host computer. After position control is
started, the /COIN (Positioning Completion) signal is output. Use the /COIN signal to confirm that the con-
trol method has changed.
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 Force control
OFF ON
Operates the motor with internal set speed 1, which is set
in Pn380.
ON ON
Operates the motor with internal set speed 2, which is set
in Pn381.
ON OFF
Operates the motor with internal set speed 3, which is set
in Pn382.
ON
OFF OFF
Reverse
Speed control Position control Force control
OFF ON
Operates the motor with internal set speed 1, which is set
in Pn380.
ON ON
Operates the motor with internal set speed 2, which is set
in Pn381.
ON OFF
Operates the motor with internal set speed 3, which is set
in Pn382.
-SPEED1
+SPEED3
+SPEED2
+SPEED1
-SPEED2
-SPEED3
0
t1
～ ～
～ ～
Motor speed
Decelerating to a stop
/COIN signal
Reference pulses
/SPD-A signal
/SPD-B signal
Reference
OFF ON ON OFF OFF OFF
ON
Speed 1
ON
Switching Pulses
Position control
Internal set
speed control
Speed 1
Speed 2 Speed 3
Internal set speed control
OFF OFF
ON
OFF

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