8 Operation
8.5.6 Using the Zero Clamp Function
8-44
(2) Parameter Setting
(3) Input Signal Setting
Parameter Meaning
Pn000
n.
A
Control mode selection: Speed control (analog voltage reference) ⇔ Zero clamp
Zero Clamp Conditions
Zero clamp is performed with Pn000 = n.A when the following two conditions are satisfied:
• /P-CON (/ZCLAMP) is ON (low level).
• Speed reference (V-REF) drops below the setting of Pn501.
Speed reference
Zero clamp
V-REF
CN1
41
5
/P-CON
SERVOPACK
(/ZCLAMP)
V-REF
speed reference
Speed
Pn501
Preset value
for zero clamping
/P-CON (/ZCLAMP)
input
Zero clamp is performed.
Open (OFF)
Closed (ON)
Time
ON ON ON
OFFOFF
Pn501
Zero Clamp Level
Setting Range Setting Unit Factory Setting Setting Validation
0 to 10000
1 min
-1
10 Immediately
Sets the motor speed at which the zero clamp is performed if zero clamp speed control (Pn000 = n.A) is selected.
Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used.
Type Signal Name
Connector Pin
Number
Setting Meaning
Input
/P-CON CN1-41
ON (low level) Zero clamp function ON (enabled)
OFF (high level) Zero clamp function OFF (disabled)
/ZCLAMP Must be allocated
ON (low level) Zero clamp function ON (enabled)
OFF (high level) Zero clamp function OFF (disabled)
This is the input signal for the zero clamp operation.
Either /P-CON or /ZCLAMP can be used to switch the zero clamp.
To use the /ZCLAMP signal, allocation of the input signal is required.
Refer to 7.3.2 Input Circuit Signal Allocation for more details.
IMPORTANT
When the /ZCLAMP signal is allocated, the zero clamp operation will be used even for speed control Pn000 = n.0.
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