YASKAWA Sigma-V Series User Manual page 149

5 Operation
5.3.5 Zero Clamp Function
(2) Changing Input Signal Allocations (Pn50A.0 = 1)
Use the /ZCLAMP signal when switching to zero clamp function.
Input
Note: Use parameter Pn50D.0 to allocate the /ZCLAMP signal for use. For details, refer to 3.4.1 Input Signal Allocations.
To use the zero clamp function, set Pn000.1 to 0, 3, 4, 5, 6, 7, 9 or A.
Pn000
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.
Pn501
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.
5-28
Connector
Type
Pin Number
/ZCLAMP Must be allocated
Parameter
n. 0 Speed control
n. 3 Internal set speed control
Internal set speed control <=> Speed
n. 4
control
Internal set speed control <=> Posi-
n. 5
tion control
Internal set speed control <=> Torque
n. 6
control
n. 7 Position control <=> Speed control
n. 9 Torque control <=> Speed control
Speed control <=> Speed control with
n. A
zero clamp function
Zero Clamp Level
Setting Range
0 to 10000
Setting
The zero clamp function will be turned ON if the input volt-
ON
age of the speed reference (V-REF) drops below the set speed
(closed)
in the zero clamp level (Pn501).
OFF
Turns OFF the zero clamp function.
(open)
Control Method
Setting Unit Factory Setting
-1
10
1 min
Meaning
Input Signal
When Enabled Classification
Used
/ZCLAMP
/ZCLAMP,
SPD-A,
SPD-B,
SPD-D,
C-SEL
/ZCLAMP,
SPD-A,
SPD-B,
SPD-D,
C-SEL
/ZCLAMP,
SPD-A,
SPD-B,
After restart
SPD-D,
C-SEL
/ZCLAMP,
SPD-A,
SPD-B,
SPD-D,
C-SEL
/ZCLAMP,
C-SEL
/ZCLAMP,
C-SEL
/ZCLAMP,
C-SEL
Speed
When Enabled
Immediately
Setup
Classification
Setup