Yaskawa Sigma II Series Servo System - Manual (Page 125)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5 - 39
Note: Input signal /C-SEL can be used only when a signal is allocated to the input circuit. See 5.3.3 Input
Circuit Signal Allocation.
Pn000.1 Control Method
9
Speed Control: When /P-CON (/C-SEL) is ON
Set the parameter Pn002.0 as shown below.
8
Position Control ⇔ Torque Control
Can be used to switch between speed (contact reference) and torque control.
•/P-CON (/C-SEL)(CN1-41) is used to switch control.
6
Speed Control (Contact Reference) ⇔ Torque Control
Can be used to switch between speed (contact reference) and torque control.
•/P-CON (/C-SEL)(CN1-45) and /N-CL(SPD-B)(CN1-46) are used to switch control.
Parameter
Pn002.0
State
Speed Reference
Input
(V-REF)
(CN1-5,6)
Torque Reference
Input
(T-REF)
(CN1-9,10)
Comments
0
Speed Control
Speed Reference
Cannot be used.
1
Torque limit speed control by analog voltage
reference
See 5.2.9 Speed Feed-Forward
Function for more details on
torque limit speed control by
analog voltage reference.
Speed Reference Torque Limit
2
Speed control with torque feed-forward See 5.2.8 Torque Feed-Forward
Function for more details on
torque feed-forward speed con-
trol.
Speed reference Torque feed-forward
CN1-41
State
Selects
Open Position Control
0V Torque Control
Parameter
/P-CL (/SPD-A)
CN1-45
State
Parameter
/N-CL (/SPD-B)
CN1-46
State
0 0 Torque Control
0 1
Speed Control
(Contact reference)
1 1
1 0