4-70
H
Internally-set Speed Selection
•
The following table shows the relationship between SPD1 and SPD2 (speed selection commands 1
and 2), and the internally-set speeds that are selected.
Control mode
SPD1: OFF
SPD1: ON
setting
SPD2: OFF
SPD2: ON
SPD2: OFF
SPD2: ON
Pn000.1 = 3
Internally-set
speed control
Stop by speed loop. No. 1 internal speed
setting (Pn301)
No. 3 internal speed
setting (Pn303)
No. 2 internal speed
setting (Pn302)
Pn000.1 = 4
Internally-set
speed control
↔
Speed control
Speed control
No. 1 internal speed
setting (Pn301)
No. 3 internal speed
setting (Pn303)
No. 2 internal speed
setting (Pn302)
Pn000.1 = 5
Internally-set
speed control
↔
Position control
Position control
No. 1 internal speed
setting (Pn301)
No. 3 internal speed
setting (Pn303)
No. 2 internal speed
setting (Pn302)
Pn000.1 = 6
Internally-set
speed control
↔
Torque control
Torque control
No. 1 internal speed
setting (Pn301)
No. 3 internal speed
setting (Pn303)
No. 2 internal speed
setting (Pn302)
H
Operation Examples
D
Internally-set Speed Control Settings Only (Pn000.1 = 3)
Speed selection
command 1
SPD1
Speed selection
command 2
SPD2
Rotation direction
command
RDIR
Servomotor op-
eration
Speed 2
Speed 3
Speed 1
Speed 1 (reverse
rotation)
Decelerates according to
Pn306 (soft start decelera-
tion time) setting
Accelerates according to
Pn305 (soft start accelera-
tion time) setting
Note 1.
There is a maximum delay of 2 ms in reading the input signal.
Note 2.
If the position lock function is not used, the servo will stop using the speed loop (i.e., internal
speed command 0 r/min.)
Note 3.
Speed command input, pulse train input, and torque command input are ignored.
Operation
Chapter 4
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