Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 169)

6 MECHATROLINK II Communications
6.3.30 Velocity Control (VELCTRL: 3CH)
6-38
6.3.30 Velocity Control (VELCTRL: 3CH)
• Related Parameters
• Torque Reference Option Operation
Note: Pn.002.0 sets the operation of P_TLIM / N_TLIM and TFF.
Byte VECTRL Description
Command Response
1 3CH 3CH Processing
classifications Motion command
group Synchronization
classifications Asynchronous
2 ALARM Processing time Within communi-
cations cycle Subcommand Can be used
3 OPTION STATUS • Controls speed. (The Servo does not perform position control, but directly
controls the speed of the speed loop.)
• Can be used during phases 2 and 3.
• A warning will occur and the command will be ignored in the following cases.
- During phase 1: Command warning 1 (A.95A)
• OPTION field can be used. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• VREF (speed reference) is a signed 4 bytes data.
The unit for speed reference is [maximum motor speed/40000000H]. The
direction is specified by the sign.
• Soft-start acceleration/deceleration can also be used by setting the parameters.
• During execution of this command, the following bits for STATUS are
allocated.
D8: ZSPD (zero speed bit)
0: Zero speed not detected
1: Zero speed detected
D7: V_CMP (speed coincidence bit)
0: Speed coincidence not detected
1: Speed coincidence detected
• Monitor (MONITOR 1, 2 ,3, 4)
The unit for TSPD, CSPD, and FSDP is [maximum motor speed/40000000H].
• Setting the torque reference option (P_TLIM, N_PLIM, TFF)
Setting range: 0 to 4000H (maximum motor torque/4000H)
Refer to page 6-38 for operation details.
4
5
P_TLIM
/TFF
MONITOR1
6
7
N_TLIM
8
9
VREF MONITOR2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16
WDT RWDT
17 For
subcommands.
Refer to 6.4
Subcommands. For
subcommands.
Refer to 6.4
Subcommands.
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn305 Soft Start Acceleration Time
Pn306 Soft Start Deceleration Time
Parameter Desctiption
Pn002 n. 0 The set value of P_TLIM / N_TLIM is ignored. Set to “0”.
n. 1 The set values of P_TLIM and N_TLIM are used as the torque limit value for forward
and reverse rotation respectively.
n. 2 TFF is used for the torque feed forward.
Set N_TLIM to 0.