YASKAWA SGD7S

6.6 Position Control . . . . . . . . . . . . . . . . . . . . . 6-29
6.6.1 Basic Settings for Position Control . . . . . . . . . .6-30
6.6.2 CLR (Position Deviation Clear) Signal Function
and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . .6-32
6.6.3 Reference Pulse Input Multiplication
Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33
6.6.4 Smoothing Settings . . . . . . . . . . . . . . . . . . . . . .6-35
6.6.5 /COIN (Positioning Completion) Signal . . . . . . . .6-36
6.6.6 /NEAR (Near) Signal . . . . . . . . . . . . . . . . . . . . . .6-37
6.6.7 Reference Pulse Inhibition Function . . . . . . . . . .6-38
6.7 Torque Control . . . . . . . . . . . . . . . . . . . . . . 6-39
6.7.1 Basic Settings for Torque Control . . . . . . . . . . .6-39
6.7.2 Adjusting the Torque Reference Offset . . . . . . . .6-40
6.7.3 Torque Reference Filter Settings . . . . . . . . . . . .6-44
6.7.4 Speed Limit during Torque Control . . . . . . . . . . .6-44
6.8 Encoder Divided Pulse Output . . . . . . . . . 6-46
6.8.1 Encoder Divided Pulse Output Signals . . . . . . . .6-46
6.8.2 Setting for the Encoder Divided Pulse Output . .6-51
6.9 Internal Set Speed Control . . . . . . . . . . . . 6-53
6.9.1 Input Signals for Internal Set Speed Control . . .6-53
6.9.2 Setting the Control Method to Internal Set
Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . .6-54
6.9.3 Settings for Internal Set Speed Control . . . . . . .6-54
6.9.4 Changing Internal Set Speeds with Input
Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-55
6.10 Selecting Combined Control Methods . . . 6-57
6.10.1 Setting Pn000 = n.X
(Control Method Selection) to 4, 5, or 6 . . . . . . .6-57
6.10.2 Setting Pn000 = n.X
(Control Method Selection) to 7, 8, or 9 . . . . . . .6-60
6.10.3 Setting Pn000 = n.X
(Control Method Selection) to A or B . . . . . . . . .6-60
6.11 Selecting Torque Limits . . . . . . . . . . . . . . . 6-62
6.11.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . .6-62
6.11.2 External Torque Limits . . . . . . . . . . . . . . . . . . . .6-63
6.11.3 Limiting Torque with an Analog Reference . . . . .6-66
6.11.4 Limiting Torque with an External Torque Limit
and an Analog Voltage Reference . . . . . . . . . . .6-68
6.11.5 /CLT (Torque Limit Detection) Signal . . . . . . . . .6-71