Zero Clamping - YASKAWA SGD7S series Product Manual

6.5.4

Zero Clamping

Zero clamping is used to lock the servo when 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) while the /ZCLAMP (Zero Clamping) signal is ON. The SERVOPACK internally forms a
position loop, ignoring the speed reference.
Zero clamping is used for speed control in systems in which the host controller does not form a
position loop.
The Servomotor is clamped within one pulse of the position where zero clamping was applied,
and will return to the zero clamping position even if it is moved by an external force.
V-REF ( peed
Ho t
Reference Input)
controller
ignal
/ZCLAMP (Zero
Clamping) ignal
peed
Zero clamping level
( etting of Pn501 or
Pn580)
/ZCLAMP
(Zero Clamping) ignal

Zero clamping

Adjust Pn102 (Position Loop Gain) if the Servomotor oscillates during zero clamping. If gain
selection is used, you must also adjust Pn106 (Second Position Loop Gain).
/ZCLAMP (Zero Clamping) Signal
Use the /ZCLAMP signal to enable zero clamping.
 When Using the Default Input Signal Allocations (Pn50A = n.0)
The /ZCLAMP signal is allocated to pin CN1-41 on the I/O signal connector by default.
Type Signal
Input /ZCLAMP CN1-41
ERVOPACK
V-REF ( peed Reference Input) ignal
ON
Applied
Relea ed Applied
Connector Pin No. Signal Status
ON (closed)
OFF (open)
Held in
place.
Time
OFF
Relea ed
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.
6.5 Speed Control
6.5.4 Zero Clamping
6
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