YASKAWA SGD7S - Page 30

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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
6.12 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-72
6.12.1 Connecting an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-73
6.12.2 Structure of the Position Data of the Absolute Encoder . . . . . . . . . . . . . . .6-73
6.12.3 Output Ports for the Position Data from the Absolute Encoder. . . . . . . . . .6-74
6.12.4 Reading the Position Data from the Absolute Encoder . . . . . . . . . . . . . . . .6-75
6.12.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-79
6.12.6 Calculating the Current Position in Machine Coordinates . . . . . . . . . . . . . .6-80
6.12.7 Alarm Output from Output Ports for the Position Data from the Absolute
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-81
6.12.8 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-81
6.12.9 Multiturn Limit Disagreement Alarm (A.CC0). . . . . . . . . . . . . . . . . . . . . . . .6-83
6.13 Absolute Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-86
6.13.1 Connecting an Absolute Linear Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . .6-86
6.13.2 Structure of the Position Data of the Absolute Linear Encoder . . . . . . . . . .6-86
6.13.3 Output Ports for the Position Data from the Absolute Linear Encoder . . . .6-87
6.13.4 Reading the Position Data from the Absolute Linear Encoder. . . . . . . . . . .6-88
6.13.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-92
6.13.6 Calculating the Current Position in Machine Coordinates . . . . . . . . . . . . . .6-93
6.13.7 Alarm Output from the Output Ports for the Position Data from the
Absolute Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-94