Yaskawa Σ-V Series AC Servo Drives Rotational Motor Analog Voltage Reference - Manual (Page 24)

1 Outline
1.3.3 Control Specifications for Different Reference Type
1-6
1.3.3 Control Specifications for Different Reference Type
The following list shows the control specifications for SERVOPACKs with different reference types.
(1) Analog Voltage Reference (Model: SGDV- ES1A)
(2) Pulse Train Reference (Model: SGDV- EP1A)
Control Method Specifications
Speed Control
Performance Soft Start Time Setting
0 to 10 s (Can be set individually for acceleration
and deceleration.)
Input Signals
Reference Voltage
• Max. input voltage : ± 12 V
(forward speed reference with positive refer-
ence)
• Factory setting: 6 VDC at rated speed
Input gain setting can be varied.
Input Impedance Approx. 14 k Ω
Circuit Time Constant 30 μ s
Internal Set
Speed Control
Rotation Direction Selection With P control signal
Speed Selection
With forward/reverse external torque limit signal
(speed 1 to 3 selection).
Servomotor stops or another control method is
used when both are OFF.
Torque Control Input Signals
Reference Voltage
• Max. input voltage : ± 12 V
(forward torque reference with positive refer-
ence)
• Factory setting: 3 VDC at rated torque
Input gain setting can be varied.
Input Impedance Approx. 14 k Ω
Circuit Time Constant 16 μ s
Control Method Specifications
Position Control
Performance
Feedforward Compensation 0% to 100%
Positioning Completed
Width Setting
0 to 1073741824 reference units
Input Signals
Reference
Pulse
Type
Select one of them:
Sign + pulse train, CW + CCW pulse train, or
two-phase pulse train with 90
° phase differential
Form For line driver, open collector
Max. Input
Pulse
Frequency
Line driver
Sign + pulse train, CW + CCW pulse train: 4
Mpps
Two-phase pulse train with 90
° phase differen-
tial: 1 Mpps
Open Collector
Sign + pulse train, CW + CCW pulse train: 200
kpps
Two-phase pulse train with 90
° phase differen-
tial: 200 kpps
Reference
Pulse Input
Multiplication
Switching
1 to 100 times
Clear Signal
Position error clear
For line driver, open collector