Zero-Clamp - YASKAWA Sigma Mini SGMM Series User Manual

2.4.2 Zero-clamp

What is the Zero-clamp Function?
The zero-clamp function is used for a system in which the host controller does not form a posi-
tion loop by speed reference input.
Speed/Torque
In other words, this function is used to stop the motor 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.
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 CN1-*1
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Speed reference less than
Cn-0A setting is ignored
Host controller
Speed reference
CN3
CN4
/P-CON
CN2
Control Mode Selection Factory
Setting:0
Control Mode Selection Factory
Setting:0
Proportional Control, etc.
— 2-41 —
2.4Setting Stop Mode
Stops
instantaneously
C
N
5
CN1
For Speed/Torque Control
For Speed/Torque Control
For Speed/Torque
Control and
Position Control
2