MECHATROLINK Communications
Type
Acceleration/Deceleration Filter Type
Related Parameters
0
Linear acceleration/deceleration (no filter)
—
1
Exponential acceleration/deceleration
Cn-002D, 002E
2
S-curve acceleration/deceleration (running
average)
Cn-0026
04
D7
D6
D5
D4
D3
D2
D1
DO
0
0
0
0
0
0
0
D4
Speed Loop Control
0
PI control (switches to P control via mode switch settings)
1
P control
6.4,2 I/O Monitor Specifications
Acceleration/Deceleration Filter Type Selection (D3 and D4) -
Three types of acceleration and deceleration can be selected with the SGDB-0
❑
EN.
IMPORTANT
IMPORTANT
1. All bits except D3 and D4 must be set to 0.
2.
Acceleration/deceleration types can only be switched when DEN (acceleration/deceleration filter output
complete) is set to 1. Never switch acceleration/deceleration types when DEN is set to 0.
Yaskawa cannot guarantee how the SERVOPACK will act if the two items above are not followed exactly.
■
Speed Loop P/PI Control Switching
Speed loop P/PI control
switching (1: P control)
• Speed Loop P Control Switching (D4)
The SGDB - 0 0 0 N is has a function that switches the speed loop between PI and P control
in real time.
This function suppresses undershooting and shortens positioning complete time when the
Servomotor is stopped.
All bits except D4 must be set to 0, otherwise Yaskawa cannot guarantee how the SERVOPACK will act.
6.4.2 I/O Monitor Specifications
N-OT and P-OT are output monitoring as a logic OR with the software limits (N-SOT, P-SOT).
The OT is output as the OT (overtravel) even at the software limits.
6 -8
