Chapter 4 Operation
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····Example
Example
Example
Example of
of
of
of Operating
Operating
Operating
Operating with
with
with
with Internally
Internally
Internally
Internally Set
Set
Set
Set Speed
Speed
Speed
Speed Selection
Selection
Selection
Selection
The shock that results when the speed is changed can be reduced by using the soft start function.
For details on the soft start function, refer to
4.5.4
4.5.4
4.5.4
4.5.4 Soft
Soft
Soft
Soft Start
Start
Start
Start
....
Example: Operation with an internally set speed and soft start
When Pn005.1=5 (speed control(contact reference)
position control(pulse train reference)), the soft
start function will operate only when selecting the internally set speed. The soft start function cannot be
used with pulse reference input. When switching to pulse reference input during operation at either of
the three speeds (1st speed to 3rd speed), the pulse reference will not be received by the servodrive
until after the positioning completion (/COIN) signal is output from the servodrive.
Note: 1. The soft start function is used in the above figure.
2. The t1 value is not affected by whether the soft start function is used.
3. A maximum delay of 2 ms occurs in loading /P-CL and /N-CL.
3
3
3
3r d s p e e d
r d s p e e d
r d s p e e d
r d s p e e d
2
2
2
2n d s p e e d
n d s p e e d
n d s p e e d
n d s p e e d
1
1
1
1s t s p e e d
s t s p e e d
s t s p e e d
s t s p e e d
S to p
S to p
S to p
S to p
S to p
S to p
S to p
S to p
1
1
1
1s t s p e e d
s t s p e e d
s t s p e e d
s t s p e e d
2
2
2
2d n s p e e d
d n s p e e d
d n s p e e d
d n s p e e d
3
3
3
3r d s p e e d
r d s p e e d
r d s p e e d
r d s p e e d
S to p
S to p
S to p
S to p
Servomotor speed
Servomotor speed
Servomotor speed
Servomotor speed
+
+
+
+SP E E D
SP E E D
SP E E D
SP E E D 3
3
3
3
+
+
+
+SP E E D
SP E E D
SP E E D
SP E E D 2
2
2
2
+
+
+
+SP E E D
SP E E D
SP E E D
SP E E D 1
1
1
1
0
0
0
0
----SP E E D
SP E E D
SP E E D
SP E E D 1
1
1
1
----SP E E D
SP E E D
SP E E D
SP E E D 2
2
2
2
----SP E E D
SP E E D
SP E E D
SP E E D 3
3
3
3
Acceleration
Acceleration
Acceleration
Acceleration ////deceleration are done for the
deceleration are done for the
deceleration are done for the
deceleration are done for the
soft start times set in Pn
soft start times set in Pn
soft start times set in Pn
soft start times set in Pn306
306
306
306 a n d P n
a n d P n
a n d P n
a n d P n 3 0 7
3 0 7
3 0 7
3 0 7....
////P
P
P
P----C L
C L
C L
C L
////N
N
N
N----C L
C L
C L
C L
////P
P
P
P----C O N
C O N
C O N
C O N
O F F
O F F
O F F
O F F
O N
O N
O N
O N
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O F F
O F F
O F F
O F F
O N
O N
O N
O N
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O N
O N
O N
O N
Signal Timing during Position Control
Signal Timing during Position Control
Signal Timing during Position Control
Signal Timing during Position Control
Se r vomotor spe e d
Se r vomotor spe e d
Se r vomotor spe e d
Se r vomotor spe e d
0
0
0
0m i n
m i n
m i n
m i n
----1
1
1
1
////C O I N
C O I N
C O I N
C O I N
R eference pulse
R eference pulse
R eference pulse
R eference pulse
////P
P
P
P----C L
C L
C L
C L
////N
N
N
N----C L
C L
C L
C L
Speed selection
Speed selection
Speed selection
Speed selection
O F F
O F F
O F F
O F F
O N
O N
O N
O N
1
1
1
1st speed
st speed
st speed
st speed
2
2
2
2nd speed
nd speed
nd speed
nd speed
3
3
3
3rd speed
rd speed
rd speed
rd speed
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O N
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O F F
O N
O N
O N
O N
Pulse reference
Pulse reference
Pulse reference
Pulse reference
1
1
1
1st speed
st speed
st speed
st speed
tttt1
1
1
1>
>
>
>2
2
2
2m s
m s
m s
m s
tttt1
1
1
1
tttt1
1
1
1
