Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

8 Operation8.8.3 Operating Using an Internally Set Speed• Example of Operating with Internally Set Speed SelectionThe 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 8.5.4 Soft Start.Example: Operation with an Internally Set Speed and Soft StartServomotor speed+SPEED3+SPEED22nd speed3rd speedAcceleration/deceleration aredone for the soft start times set inPn305 and Pn306.+SPEED11st speed0StopStopStop-SPEED11st speed-SPEED22nd speed-SPEED33rd speed/P-CL (/SPD-A)OFFOFF ON ON OFF OFF ON ON OFF/N-CL (/SPD-B)OFF ON ON OFF OFF ON ON OFF OFF/P-CON( /SPD-D)ON ON ONOFF OFF OFF OFF OFFIMPORTANTWhen Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start function will operate onlywhen 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 3rdspeed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/COIN) signal is output. Always begin the output of the pulse reference from the host controller after thepositioning completed (/COIN) signal is output from the SERVOPACK.Example: Operation with an Internally Set Speed and Soft Start ⇔ Position Control (Pulse Train Reference)Motor speedSignal Timing in Position Control0 min -1/COINPulse reference/P-CL (/SPD-A)/N-CL (/SPD-B)Selected speedt1t1OFF ON ONOFFOFFON ON OFFOFFON1st speed 2nd speed 3rd speed Pulse reference 1st speedNote: 1. The soft start function is used in the above figure.2. The t 1 value is not affected by whether the soft start function is used.A maximum delay of 2 ms occurs in loading /P-CL (/SPD-A) and /N-CL (/SPD-B).t12 ms8-68