Yaskawa Sigma II Series Servo System - Manual (Page 150)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5-64
5.4.3 Using the Zero Clamp Function
Zero Clamp Function
The zero clamp function is used for systems where the host controller does not form
a position loop for the speed reference input. In other words, this function is used to
stop and lock the servomotor even when the input voltage of speed reference V-REF
is not 0V. An internal position loop is temporarily formed to clamp the servomotor
within one pulse when the zero clamp function is turned ON. Even if the servomotor
is forcibly rotated by external force, it will still return to the zero clamp position.
Parameter Setting
Set the following parameter so that the input signal /P-CON (/ZCLAMP) can be
used to enable or disable the zero clamp function.
Note: The /ZCLAMP signal can be used when an input circuit signal is allocated. See 5.3.3 Input
Circuit Signal Allocation for more details.
Parameter Signal
Setting
(ms)
Description
Pn000.1 Control Method Selection Default Setting: 0 Speed Control
Input /P-CON CN1-41 Proportional Control, etc.
Speed/Torque Control,
Position Control
Pn000.1 Setting Control Mode
A
Zero Clamp Control Mode
This mode allows the zero clamp function to be
set when the servomotor stops.
• The speed reference is input from V-REF
(CN1–5).
• /P-CON (/ZCLAMP)(CN1–41) is used to
turn the zero clamp function ON and OFF.
Zero clamp is performed when the
following two conditions are satisfied:
• /P-CON (/ZCLAMP) is ON.
• Speed reference is below the
setting designated at Pn501.
Host controller Speed reference
Stops
precisely.
V-REF
/P-CON
(/Z-CLAMP)
A speed reference lower than
the Pn501 setting is ignored.
CN1-41 is
open (OFF).
Turns the zero
clamp function OFF.
CN1-41 is 0V
(ON).
Turns the zero
clamp function ON.
Servo amplifier
Speed reference
Zero clamp
V-REF
/P-CON
/ZCLAMP
CN1-5
CN1-41