YASKAWA SGDV SERVOPACK, User Manual

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5.7 Combination of Control Methods
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5.7
Combination of Control Methods
SERVOPACK can switch the combination of control methods. Select the control method with Pn000.1.
5.7.1
Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
Conditions for switching internal set speed control are as shown below.
(1) Factory-set Input Signal Allocations (Pn50A.0 = 0)
The control method and internal set speed can be switched using /P-CL and /N-CL signals.
It is possible to switch from speed control, position control, or force control to the internal set speed control
even while the servomotor is moving.
Parameter Combination of Control Methods When Enabled Classification
Pn000
n.

4

Internal Set Speed Control

Speed Control
After restart Setup
n.

5

Internal Set Speed Control

Position Control
n.

6

Internal Set Speed Control

Force Control
n.

7

Position Control

Speed Control
n.

8

Position Control

Force Control
n.

9

Force Control

Speed Control
n.

A

Speed Control

Speed Control with Zero Clamp Func-
tion
n.

B

Position Control

Position Control with Reference
Pulse Inhibit Function
Input Signal Pn000.1 Settings and Operations
/P-CON (CN1-41) /P-CL (CN1-45) /N-CL (CN1-46) n.

4

n.

5

n.

6

OFF
OFF OFF Speed control Position control Force control
OFF ON Forward movement at internal set speed 1 set in Pn380.
ON ON Forward movement at internal set speed 2 set in Pn381.
ON OFF Forward movement at internal set speed 3 set in Pn382.
ON
OFF OFF Speed control Position control Force control
OFF ON Reverse movement at internal set speed 1 set in Pn380.
ON ON Reverse movement at internal set speed 2 set in Pn381.
ON OFF Reverse movement at internal set speed 3 set in Pn382.