Yaskawa DR2 Sigma Servo - Manual (Page 80)

3.2 Setting User Constants According to Host Controller
67
Cn-01
Setting Control Mode
Bit B Bit A
Control Mode
0 0
Speed Control
This is normal speed control.
D Speed reference is input from V-REF
(1CN-5).
D P-CON (1CN-41) signal is used to switch
between P control and PI control.
DR2 Servopack
Speed
reference
P/PI
changeover
V-REF
(1CN-5)
P-CON
(1CN-41)
0 0
1CN-41 is
open
PI control
1CN-41 is
at 0 V
P control
D Torque reference input T-REF (1CN-9)
cannot be used.
0 1
Zero-clamp Speed Control
This speed control allows the zero-clamp
function to be set when the motor stops.
D Speed reference is input from V-REF
(1CN-5).
D P-CON (1CN-41) signal is used to turn the
zero-clamp function ON or OFF.
Zero-clamp
Zero-clamp is performed when
the following two conditions
are met:
Condition 1: P-CON is turned
ON.
Condition 2: Motor speed
drops below the preset value.
Preset value: Cn-29 (ZCLVL)
DR2 Servopack
Speed
reference V-REF
(1CN-5)
P-CON
(1CN-41)
0 1
1CN-41 is
open
Turns zero-clamp
function OFF
1CN-41 is
at 0 V
Turns zero-clamp
function ON
D Torque reference input T-REF (1CN-9)
cannot be used.
1 0 Torque control I
1 1 Torque control II
For torque control, refer to 3.2.7 Using Torque Control.
3