YASKAWA Sigma Mini SGMM Series User Manual page 57

APPLICATIONS
2.2.1 Speed References cont.
2
Speed/Torque
TERMS
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Using /P-CON Signal:
→ Input /P-CON CN1-*1
The function of input signal /P-CON changes with the memory switch setting.
Servopack
Switching between P control and PI control
/P-CON
Switching between zero-clamp enabled mode and
zero-clamp disabled mode
Memory
switch
Changing rotation direction
Memory Switch
Cn-02 Cn-01 Cn-01
Bit 2 Bit B Bit A
0 0 0
0 0 1
0 1 0
0 1 1
1 --- ---
Adjust the speed reference gain using the following parameter.
VREFGN Speed
Cn-03 Reference Gain
This parameter is for speed/torque control only.
Sets the voltage range for speed reference input
V-REF. Sets this parameter according to the out-
put form of the host controller or external circuit.
The factory setting is as follows:
−1
Rated speed (3000 min )/6 V = 500
Zero-clamp function
This function is used for a system in which the host controller does not form a position loop.
In this case, the stopping position may shift even if a speed reference is set to 0. If the zero-
clamp function is turned ON, a position loop is internally formed so that the stopping position
is firmly "clamped."
— 2-12 —
Proportional Control, etc.
Meaning of /P-CON Signal
Switching between proportional (P) control and
proportional/integral (PI) control
Switching between zero-clamp enabled/disabled mode
(for speed/torque control only)
Not used (for speed/torque control only)
Not used (do not set)
Changing the direction of rotation during contact input speed
control
Unit: Setting Factory
−1
(min )/V Range: 0 Setting:
to 2162 500
Reference
speed (min
For Speed/Torque
Control and
Position Control
For Speed/Torque
Control
Set this slope.
−1
)
Reference
voltage (V)