Moons' MBDV Series - Zero Speed Clamp Function

78
Rev. 2.0
07/27/2023
MBDV Hardware Manual
7.3.2 Zero speed clamp function
In velocity control mode, the zero speed clamp function can be congured in two ways:
◆
P5-51 (zero speed clamp function) set to 0
Activation of the zero speed clamp function becomes dependent on the ZCLAMP input signal. If the
ZCLAMP input is valid and the commanded velocity falls below the zero speed threshold (P5-42), the servo
motor enters a position lock state. This state maintains the motor shaft in position and should the shaft be
caused to move by external forces, the shaft will return to the position in which it was initially locked.
Activation of the zero speed clamp function becomes dependent on the ZCLAMP input signal. If the
ZCLAMP input is valid and the commanded velocity falls below the zero speed threshold (P5-42), the servo
motor enters a position lock state. This state maintains the motor shaft in position and should the shaft be
caused to move by external forces, the shaft will return to the position in which it was initially locked.
0
Motor speed
P5-42
Zero speed
clamp input signal
Input is valid
Invalid input
Motor speed
Zero speed
clamp function
Take effect
Invalid
Take effect
Invalid
电机转速
电机转速
If the servo motor vibrates when it is in a locked stated due to the zero speed clamp function, the
position loop gain needs to be adjusted. It is necessary to set an appropriate zero speed threshold.
If the value is too high, it will cause signicant vibrations in the system due to rapid deceleration.
ZCLAMP input signal conguration
To use the zero speed clamp function as mentioned above (setting of 0), users will need to assign
the ZCLAMP function to an input. See below for conguration methods of the ZCLAMP input:
Type Signal name Set value Signal logic Function
Input ZCLAMP
21
Closed
The input signal is valid and the speed command is less than P5-42, the ZCLAMP
function is valid
Open
Input signal is invalid, even if the speed command is less than P5-42, the ZCLAMP
function will not be valid
22
Open
The input signal is valid and the speed command is less than P5-42, the ZCLAMP
function is valid
Closed
Input signal is invalid, even if the speed command is less than P5-42, the ZCLAMP
function will not be valid
◆
P5-51 (zero speed clamp function) set to 1
The zero-speed clamp state is independent of the zero-speed clamp input signal ZCLAMP.
Activation of the zero speed clamp function becomes independent of the ZCLAMP input signal. If
the commanded velocity is 0 and the actual velocity falls below the zero speed threshold (P5-42)
for a duration of time equivalent to P5-40, the servo motor enters a position lock state. This state
maintains the motor shaft in position and should the shaft be caused to move by external forces,
the shaft will return to the position in which it was initially locked.
If the commanded velocity is not zero, the servo motor exits the position lock state and accelerates
to the current commanded velocity with an acceleration equivalent to P2-03.
Related parameters
Parameter Instruction Name Value range Defaults Unit Description
P5-40 PE Motion condition timer 0 ~ 30000 10 ms
MS=0
When the command speed is less than
or equal to the zero-speed judgment
threshold, the drive considers that it is in
the zero-speed state at this time
P5-42 ZV Zero speed threshold 0.1 ~ 2 0.5 rps
P5-51 MS Zero speed clamp function 0 ~ 1 0 -