Yaskawa SGDB - Manual (Page 99)

3.2 Setting Parameters According to Host Controller
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Note When the parameter Cn-2B is set to 5, the soft start function works only in contact
input speed control mode. The soft start function is not available when pulse refer-
ence input is used.
If contact input speed control mode is switched to pulse reference input mode
when the motor is running at the 1st, 2nd or 3rd speed, the SERVOPACK does not
receive a pulse reference until positioning complete signal /COIN is output.
Always start outputting a pulse reference from the host controller after a position-
ing complete signal is output from the SERVOPACK.
Signal Generation Timing for Position Control Type
Motor speed
0 min −1
Pulse reference
Selected speed 1st speed 2nd speed 3rd speed Pulse reference
/COIN
/N-CL
/P-CL
1st speed
The above figure illustrates signal generation timing when the soft start function is
used.
The value of t
1
is not influenced by use of the soft start function.
A maximum of 6 ms delay occurs when /P-CL or /N-CL signal is read.
3.2.7 Using Torque Control
The SERVOPACK can provide the following torque control:
• Torque restriction Level 1: To restrict the maximum output torque to protect
the machine or workpiece
Level 2: To restrict torque after the motor moves the
machine to a specified position
• Torque control Level 3: To always control output torque, not speed
Level 4: To switch between torque control and other
control
This section describes how to use levels 3 and 4 of the torque control function.
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