Estun ProNet Plus Series - Using the Zero Clamp Function

ProNet Plus Series AC Servo User's Manual
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4.5.7 Using the Zero Clamp Function
(1) Zero Clamp Function
The zero clamp function is used for systems where the host controller does not form a position loop for the speed
reference input. When the zero clamp signal (/P-CON) is ON, a position loop is formed inside the servo drive as soon as
the input voltage of the speed reference (V-REF) drops below the servomotor zero clamp speed. The servomotor ignores
the speed reference and quickly stops and locks the servomotor.
The servomotor is clamped within ±1 pulse when the zero clamp function is turned ON, and will still return to the zero
clamp position even if it is forcibly rotated by an external force.
Host Controller
Speed Reference
V-REF
Zero Clamp
/P-CON
When the /P-CON signal is turned ON, a
speed reference below the Pn502 setting is
detected.
Stops precisely!
(2) Parameter Setting
Parameter
Meaning
Pn005
H.□□A□
Control mode: Speed control(analog voltage reference) Zero Clamp
Zero Clamp Conditions:
Zero clamp is performed with Pn005=H.□□A□ when the following two conditions are both satisfied:
·/P-CON is ON (low level)
·Speed reference (V-REF) drops below the setting in Pn502.
CN1
1
15
V-REF
/P-CON
Speed reference
Zero clamp
Servodrive
“V-REF”speed reference
Time
Speed
Preset value for zero
clamping Pn502
Open（OFF) Closed（ON)
“/P-CON”input
Zero clamp is performed.
ON
OFF OFF
ON
ON