Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 142)

5 Operation
5.3.5 Zero Clamp Function
5-28
(2) Changing Input Signal Allocations (Pn50A.0 = 1)
Use the /ZCLAMP signal when switching to zero clamp function.
Note: Use parameter Pn50D.0 to allocate the /ZCLAMP signal for use. For details, refer to 3.3.1 Input Signal Allocations.
To use the zero clamp function, set Pn000.1 to 0, 3, 4, 5, 6, 7, 9 or A.
Note: If Pn000.1 is set to 5, 6, 7, or 9, the zero clamp function will become invalid when the control is changed to any
methods other than speed control and internal set speed control.
For speed control, the zero clamp function locks the servomotor when the speed reference drops below the set
speed in the zero clamp level by setting Pn50D.0 to 7 (zero clamp function is always valid). The input signals
(/ZCLAMP, /P-CON) are not necessary.
(3) Related Parameter
Set the motor speed at which to enter zero clamp operation.
Note: Even if a value that exceeds the maximum speed of the servomotor is set, the actual speed will be limited to the max-
imum speed of the servomotor.
Type
Connector
Pin Number
Setting Meaning
Input /ZCLAMP Must be allocated
ON
(closed)
The zero clamp function will be turned ON if the input volt-
age of the speed reference (V-REF) drops below the set speed
in the zero clamp level (Pn501).
OFF
(open)
Turns OFF the zero clamp function.
Parameter Control Method
Input Signal
Used
When Enabled Classification
Pn000
n. 0 Speed control /ZCLAMP
After restart Setup
n. 3 Internal set speed control
/ZCLAMP,
SPD-A,
SPD-B,
SPD-D,
C-SEL
n. 4
Internal set speed control <=> Speed
control
/ZCLAMP,
SPD-A,
SPD-B,
SPD-D,
C-SEL
n. 5
Internal set speed control <=> Posi-
tion control
/ZCLAMP,
SPD-A,
SPD-B,
SPD-D,
C-SEL
n. 6
Internal set speed control <=> Torque
control
/ZCLAMP,
SPD-A,
SPD-B,
SPD-D,
C-SEL
n. 7 Position control <=> Speed control
/ZCLAMP,
C-SEL
n. 9 Torque control <=> Speed control
/ZCLAMP,
C-SEL
n. A
Speed control <=> Speed control with
zero clamp function /ZCLAMP,
C-SEL
Pn501
Zero Clamp Level
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min
-1 10 Immediately Setup
Speed