Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 170)

5 Operation
5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
5-56
The following diagram describes an operation example for internal set speed control + soft start <=> position
control.
Note 1. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL and /N-CL.
2. The speed is decelerated for the time set in Pn306, and the internal set speed control will be changed to the posi-
tion control after the servomotor comes to a stop.
- SPEED1
+SPEED3
+SPEED2
+SPEED1
- SPEED2
- SPEED3
0
/P-CL
/COIN
/N-CL
V1
㨪 㨪
㨪 㨪
Motor speed
ON
Decelerating to a stop
Internal set speed control
Internal
set speed
control
Position control
1st speed
2nd
speed
3rd speed Switching Pulse 1st speed
OFF OFF OFF
OFF
OFF
OFF OFF
ON
ON ON ON
Reference
Reference pulse
Analog