YASKAWA SGD7S Product Manual page 220

 When Changing Input Signal Allocations (Pn50A = n.1)
You must allocate the /ZCLAMP signal. Allocate the signal with Pn50D = n.X (/ZCLAMP
(Zero Clamping Input) Signal Allocation).
Refer to the following section for details.
6.1.1
Input Signal Allocations
Type Signal Connector Pin No. Signal Status
Input /ZCLAMP Must be allocated.
Enabling Zero Clamping
To enable using zero clamping, set the control method (Pn000 = n.X) to 0, 3, 4, 5, 6, 7, 9
or A. You can use zero clamping only for operation with speed control.
If Pn000 = n.X is set to 5, 6, 7, or 9, zero clamping will be disabled when the control
method is changed to any method other than speed control.
If you set the parameter to keep the /ZCLAMP always active (Pn50D = n.7) for speed con-
Information
trol, zero clamping will be applied whenever the speed reference is equal to or lower than the
speed set for the zero clamping level. In this case, using the /ZCLAMP signal is not necessary.
Parameter
 
n. 0 Speed control
 
n. 3 Internal set speed control
Switching between internal set
 
n. 4 speed control and speed control
with analog references
Switching between internal set
 
n. 5
speed control and position control
Pn000
Switching between internal set
 
n. 6
speed control and torque control
Switching between position con-
 
n. 7
trol and speed control
Switching between torque control
 
n. 9
and speed control
Switching between speed control
 
n. A with analog references and speed
control with zero clamping
 Related Parameters
You set the speed at which to apply zero clamping as the zero clamping level (Pn501 or
Pn580). If you set a value that exceeds the maximum speed of the Servomotor, the actual
speed will be limited to the maximum speed of the Servomotor.
• Rotary Servomotors
Zero Clamping Level
Setting Range
Pn501
0 to 10,000
• Linear Servomotors
Zero Clamping Level
Pn580 Setting Range
0 to 10,000
on page 6-4
ON (closed)
OFF (open)
Control Method
Setting Unit Default Setting
-1
1 min
Setting Unit Default Setting
1 mm/s
Meaning
Zero clamping is applied if the input voltage of the
V-REF (Speed Reference Input) signal is equal to or
lower than the speed set for the zero clamping level
(Pn501 or Pn580).
Zero clamping is disabled.
When
Used Input Signals
Enabled
/ZCLAMP
/ZCLAMP, SPD-A,
SPD-B, SPD-D
/ZCLAMP, SPD-A,
SPD-B, SPD-D,
C-SEL
/ZCLAMP, SPD-A,
SPD-B, SPD-D,
C-SEL
After restart
/ZCLAMP, SPD-A,
SPD-B, SPD-D,
C-SEL
/ZCLAMP, C-SEL
/ZCLAMP, C-SEL
/ZCLAMP
Speed
When Enabled
10 Immediately
Speed
When Enabled
10 Immediately
6.5 Speed Control
6.5.4 Zero Clamping
Classification
Setup
6
Classification
Setup
Classification
Setup
6-25