YASKAWA SGDM User Manual

8.8 Operating Using Speed Control with an Internally Set Speed
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8
Operation
8.8.3 Operating Using an Internally Set Speed
Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
Note: Signal OFF = High level; Signal ON = Low level
Control Mode Switching
When Pn000.1 = 4, 5, or 6, and either /P-CL (/SPD-A) or /N-CL (SPD-B) is OFF (high level), the control
mode will switch.
Example:
When Pn000.1=5: Internally set speed selection ⇔ Position control (pulse train)
• Example of Operating with Internally Set Speed Selection
The shock that results when the speed is changed can be reduced by using the soft start function.
For details on the soft start function, refer to 8.5.4 Soft Start.
Example: Operation with an Internally Set Speed and Soft Start
Input Signal Motor Rotation
Direction
Speed
/P-CON
(/SPD-D)
/P-CL
(/SPD-A)
/N-CL
(/SPD-B)
OFF (high)
OFF (high)
OFF (high)
Forward
Stop at 0 of the internally set speed
OFF (high) ON (low)
Pn301: Internally Set Speed 1 (SPEED1)
ON (low) ON (low)
Pn302: Internally Set Speed 2 (SPEED2)
ON (low)
OFF (high)
Pn303: Internally Set Speed 3 (SPEED3)
ON (low)
OFF (high) OFF (high) Reverse
Stop at 0 of the internally set speed
OFF (high) ON (low)
Pn301: Internally Set Speed 1 (SPEED1)
ON (low) ON (low)
Pn302: Internally Set Speed 2 (SPEED2)
ON (low) OFF (high)
Pn303: Internally Set Speed 3 (SPEED3)
Input Signal Speed
/P-CL (/SPD-A) /N-CL (/SPD-B)
OFF (high) OFF (high)
Pulse train reference input (position control)
OFF (high) ON (low)
Pn301: Internally Set Speed 1 (SPEED1)
ON (low) ON (low)
Pn302: Internally Set Speed 2 (SPEED2)
ON (low) OFF (high)
Pn303: Internally Set Speed 3 (SPEED3)
IMPORTANT
-SPEED1
Servomotor speed
+SPEED3
+SPEED2
+SPEED1
-SPEED2
-SPEED3
0
OFF ON
Stop
/P-CL (/SPD-A)
/N-CL (/SPD-B)
/P-CON( /SPD-D)
Stop
Stop
OFF OFF OFF OFF
OFF OFF OFF OFF OFF
OFF OFF OFF OFF OFF
ON ON ON
ON ON ON ON
ONON ON ON
Acceleration/deceleration are
done for the soft start times set in
Pn305 and Pn306.
1st speed
1st speed
2nd speed
2nd speed
3rd speed
3rd speed

YASKAWA SGDM Specifications

General

Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Feedback	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Overload, Overheat
Ambient Temperature	0°C to 55°C
Storage Temperature	-20 to +85°C (-4 to 185°F)
Vibration	5.9 m/s2 (0.6 G) at 10 to 55 Hz