Zero Clamp Function - YASKAWA JUSP-MD D01A Series User Manual

5 Operation

5.3.5 Zero Clamp Function

5.3.5

Zero Clamp Function

The zero clamp function locks the servo when the input voltage of the speed reference (V-REF) drops below
the speed set in the zero clamp level (Pn501) while the zero clamp signal (/P-CON or /ZCLAMP) is ON. The
multi-winding drive unit internally forms a position loop, ignoring the speed reference.
The zero clamp function is used for systems in which the host controller does not form a position loop for the
speed reference input.
The servomotor is clamped within one pulse of the position when the zero clamp function is turned ON, and
will still return to the zero clamp position even if it is forcibly rotated by external force.
Host controller
Set value for zero
clamp level (Pn501)
/P-CON (/ZCLAMP)
input signal
Adjust the position loop gain (Pn102) if the servomotor oscillates in the zero clamp state. If the gain switching
function is used, adjusting the 2nd position loop gain (Pn106) is required as well. For details, refer to 6.6.1
Switching Gain Settings.
(1) Factory-set Input Signal Allocations (Pn50A.0 = 0)
When Pn000.1 is set to A, the control method becomes "speed control ↔ speed control with zero clamp func-
tion" and the /P-CON signal is used as a zero clamp signal.
Input
Pn000
5-24
Speed reference
V-REF
Zero clamp
/P-CON
(/ZCLAMP)
Speed
ON
Zero clamp
ON
function
OFF
Connector
Type
Pin Number
CN1-41
/P-CON
[Factory setting]
Parameter
Speed control ↔
n.A
speed control with zero clamp function
V-REF speed reference
Time
OFF
ON
OFF
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 When Enabled Classification
Stops precisely!
Meaning
After restart Setup