Yaskawa FSP Amplifier - Manual (Page 9)

FSP Amplifier User’s Manual Table of Contents/Preface
4.3. Minimum Parameters and Input Signals ..................................................... 4-12
4.3.1. Parameters ............................................................................................... 4-12
4.3.2. Input
Signals............................................................................................ 4-12
5. Parameter Settings and Functions ..................................................................5-1
5.1. Settings According to Device Characteristics ............................................... 5-4
5.1.1. Switching Servomotor Rotation Direction............................................... 5-4
5.1.2. Setting the Overtravel Limit Function...................................................... 5-5
5.1.3. Limiting Torque ........................................................................................ 5-8
5.2. Settings According to Host Controller ........................................................ 5-12
5.2.1. Speed Reference...................................................................................... 5-12
5.2.2. Position Reference .................................................................................. 5-14
5.2.3. Using the Encoder Signal Output ........................................................... 5-20
5.2.4. Sequence I/O Signals .............................................................................. 5-23
5.2.5. Using the Electronic Gear Function ....................................................... 5-25
5.2.6. Contact Input Speed Control................................................................... 5-29
5.2.7. Using Torque Control ............................................................................. 5-34
5.2.8. Torque Feed-Forward Function.............................................................. 5-40
5.2.9. Torque Limiting by Analog Voltage Reference..................................... 5-42
5.2.10. Reference Pulse Inhibit Function (/INHIBIT) ....................................... 5-44
5.3. Setting Up the Servo Amplifier ................................................................... 5-45
5.3.1. Parameters ............................................................................................... 5-45
5.3.2. JOG
Speed............................................................................................... 5-46
5.3.3. Input Circuit Signal Allocation............................................................... 5-46
5.3.4. Output Circuit Signal Allocation............................................................ 5-50
5.3.5. Control Mode Selection .......................................................................... 5-52
5.4. Setting Stop Functions ................................................................................. 5-54
5.4.1. Adjusting Offset ...................................................................................... 5-54
5.4.2. Servo OFF Stop Mode Selection............................................................ 5-55
5.4.3. Using the Zero Clamp Function ............................................................. 5-56
5.4.4. Using the Holding Brake ........................................................................ 5-58
5.5. Forming a Protective Sequence ................................................................... 5-61
5.5.1. Using Servo Alarm and Alarm Code Outputs ....................................... 5-61
5.5.2. Using the Servo ON Input Signal (/S-ON)............................................. 5-63
5.5.3. Using the Positioning Completed Output Signal (/COIN) .................... 5-64
5.5.4. Speed Coincidence Output (/V-CMP).................................................... 5-65
5.5.5. Using the Running Output Signal (/TGON) .......................................... 5-67
5.5.6. Using the Servo Ready Output Signal (/S-RDY)................................... 5-68
5.5.7. Using the Warning Output Signal (/WARN)......................................... 5-69
5.5.8. Handling Power Loss.............................................................................. 5-71
5.6. Selecting a Regenerative Resistor................................................................ 5-72
5.6.1. External Regenerative Resistor............................................................... 5-73
5.6.2. Calculating the Regenerative Power Capacity....................................... 5-74
5.7. Absolute Encoders........................................................................................ 5-78
5.7.1. Interface Circuit....................................................................................... 5-79
5.7.2. Configuring an Absolute Encoder .......................................................... 5-80
5.7.3. Absolute Encoder Setup.......................................................................... 5-81
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