Using Zero-Clamp - YASKAWA SGM series User Manual

APPLICATIONS OF Σ-SERIES PRODUCTS

3.4.3 Using Zero-Clamp

3.4.3 Using Zero-Clamp
SGDA-
Speed/Torque
3
106
1) The zero-clamp function is used for a system in which the host controller does not form a
S
position loop by speed reference input.
In other words, this function is used to cause the motor to stop and enter a servo locked
status when the input voltage of speed reference V-REF is not 0 V. When the zero-clamp
function is turned ON, an internal position loop is temporarily formed, causing the motor
to be clamped within one pulse. Even if the motor is forcibly rotated by external force, it
returns to the zero-clamp position.
Host controller
2) Set the following memory switch so that input signal P-CON can be used to enable or
disable the zero-clamp function.
Cn-01Bit A
Cn-01Bit B
→ Input P-CON 1CN-15
Cn-01
Setting
Bit B Bit A
Zero-clamp Speed Control
This speed control allows the
zero-clamp function to be set when
the motor stops.
D A speed reference is input from
D P-CON (1CN-15) is used to turn the
0 0 1 1
Speed reference less than
Cn-0A setting is ignored
Speed reference
Control Mode Selection
Control Mode Selection
Proportional Control, etc.
V-REF (1CN-3).
zero-clamp function ON or OFF.
P-CON Turns
(1CN-15) is zero-clamp
open (OFF) function OFF
P-CON Turns
(1CN-15) is zero-clamp
closed (ON) function ON
Stops
instantaneously
Factory For Speed/Torque Control
Setting:0 Only
Factory For Speed/Torque Control
Setting:0 Only
For Speed/Torque
Control and
Position Control
Control Mode Control Mode
Speed reference
Zero-clamp
Zero-clamp is performed when the
following two conditions are met:
P-CON signal is closed. P CON signal is closed.
Motor speed is below the value
set in Cn-0F (ZCLVL).
Servopack