YASKAWA Sigma-II Series, User Manual

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8 Operation
8.8.3 Operating Using an Internally Set Speed
8-68
When Pn000.1 = 5 (Internally set speed control
⇔
Position control), the soft start function will operate only
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output of the pulse reference from the host controller after the
positioning completed (/COIN) signal is output from the SERVOPACK.
Example: Operation with an Internally Set Speed and Soft Start
⇔
Position Control (Pulse Train Reference)
Note: 1. The soft start function is used in the above figure.
2. The t
1
value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL (/SPD-A) and /N-CL (/SPD-B).
IMPORTANT
/N-CL (/SPD-B)
/P-CL (/SPD-A)
ON
Selected speed
ON
OFF ON OFF
OFF OFF
Pulse reference
ON OFF
ON
/COIN
Pulse reference
0 min
-1
Motor speed
t1
t1 2 ms
Signal Timing in Position Control
t1
1st speed
2nd speed 3rd speed
1st speed