Yaskawa MP940 - Manual (Page 306)

Parameters
6.4.7 Sequence-related Parameters
6-66
6.4.7 Sequence-related Parameters
Table 6.9 Sequence-related Parameter Table
Parameter No. Digit
Name (Setting
Range)
Details Default
Control
Modes
Pn500
Positioning
Completed Width Reference unit
0 to 250 Do not use this parameter when using an MP940. 7 Position
Pn501
Zero Clamp Level r/min
0 to 10000 The zero clamp function is used for systems where the host con-
troller does not form a position loop for the speed reference input.
In other words, this function is used to stop and lock the servomo-
tor even when the input voltage of speed reference INVRF is not 0
V. An internal position loop is temporarily formed to clamp the ser-
vomotor 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.
Zero Clamp Function
This mode allows the zero clamp function to be set when the servo-
motor stops. The speed reference is input from INVRF.
ZCLAMP(OBC0015) is used to turn the zero clamp function ON
and OFF.
ZCLAMP=0: Turns the zero clamp function OFF.
ZCLAMP=1: Turns the zero clamp function ON.
Zero clamp is performed when the following two conditions are
satisfied:
Condition 1: ZCLAMP is ON.
Condition 2: Speed reference is below the setting at Pn501.
Set the motor speed at which zero clamp is performed if zero clamp
speed control is selected. Even if this value is set higher than the
maximum speed of the servomotor, the maximum speed will be
used.
Zero Clamp Conditions
Zero clamp is performed when all the following conditions are sat-
isfied:
• ZCLAMP (OBC0015) is ON (0 V).
• Motor rotation speed is below this setting.
10 Speed
ピタッ!
ZCLANP
（ OBC0015）
INVRF
BAT
RDY
RUN
ALM
BAT
PRT1
6
5
4
3
2
1
NO →
PRT2
RUN
INIT
TEST
FLASH
PP
COPY
PORT1
PORT2
POWER
+24V GND
FG LED
I/O
TX
RX
1
2
M
E
C
H
A
T
R
O
L
I
N
K
MP940
MP940
A speed reference below the
Pn501 setting is ignored.
Speed reference
Stops
precisely.
Speed
Preset value for zero
clamping
V-REF speed reference
Time
ZCLAMP input
Zero clamp is performed.
Open
(OFF)
Closed
(ON)