YASKAWA JUSP-MD D01A Series, User Manual

Page: 161 / 363

5.7 Combination of Control Methods
5-53
5
Op
er
at
io
n
The following diagram describes an operation example for internal set speed c soft start
↔
position
control.
Note 1. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL and /N-CL.
2. The speed is decelerated for the time set in Pn306, and the internal set speed control will be changed to the posi-
tion control after the servomotor comes to a stop.
(2) Changing Input Signal Allocations (Pn50A.0 = 1)
The control method can be switched by turning the /C-SEL signal ON/OFF.
Note: Use parameter Pn50C.3 to allocate the /C-SEL signal for use. For details, refer to 3.4.1 Input Signal Allocations .
The following table shows the speed and direction in accordance with settings for the input signals for the set-
ting for internal set speed control when the /C-SEL signal is OFF.
Note: Use parameter Pn50C.0 to 2 to allocate the /SPD-D, /SPD-A, and /SPD-B signals for use. For details, refer to 3.4.1
Input Signal Allocations .
- S P E E D 1
+SP EED3
+SP EED2
+SP EED1
- S P E E D 2
- S P E E D 3
0
/ P-CL
/COIN
/ N-CL
t1
Motor speed
ON
Decelerating to a stop
Internal set speed control
Internal
set speed
control
Position control
1st speed
2nd
speed
3rd speed Switching
Pulse 1st speed
OFF OFF OFF
OFF
OFF
OFF OFF
ON
ON
ON
ON
Reference
Reference pulse
Type
Signal
Name
Connector
Pin Number
Setting
Pn000 Setting and Control Method
n.  4  n.  5  n.  6 
Input /C-SEL Must be
allocated
ON (closed) Speed Position Torque
OFF (open) Internal set speed Internal set speed Internal set speed
Input Signal
Speed and Direction
/SPD-D /SPD-A /SPD-B
OFF
OFF OFF Stops at internal set speed 0.
OFF ON Forward rotation at internal set speed 1 set in Pn301.
ON ON Forward rotation at internal set speed 2 set in Pn302.
ON OFF Forward rotation at internal set speed 3 set in Pn303.
ON
OFF OFF Stops at internal set speed 0.
OFF ON Reverse rotation at internal set speed 1 set in Pn301.
ON ON Reverse rotation at internal set speed 2 set in Pn302.
ON OFF Reverse rotation at internal set speed 3 set in Pn303.