2.3 b: Application
246 YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Note:
• When you use the Zero Servo function, keep the Run command ON. If the Run command is OFF, the drive will not hold the motor shaft in
position.
• When you turn oFF the Zero-Servo command, the terminal set for Zero Servo Complete will deactivate.
• If A1-02 = 7 [PM Closed Loop Vector] and an external force rotates the motor during Zero Servo, the drive will detect dv4 [Inversion
Prevention Detection]. To prevent dv4 detection, increase b9-01 [Zero Servo Gain] or increase the number of pulses set in F1-19
[Deviation 4 Detection Selection].
■ b9-01: Zero Servo Gain
No.
(Hex.)
Name Description
Default
(Range)
b9-01
(01DA)
Zero Servo Gain
Sets the responsiveness for the Zero Servo function.
5
(0 - 100)
If the drive is not responsive, or if there is too much deviation from the Zero Servo start point when you increase the
load, increase this setting. If oscillation or hunting occurs, decrease this setting.
Note:
• Set C5-xx [Automatic Speed Regulator (ASR)] parameters correctly before you adjust the Zero Servo gain.
• When you operate with the Zero Servo command enabled, oscillation and hunting must not occur.
■ b9-02: Zero Servo Completion Window
No.
(Hex.)
Name Description
Default
(Range)
b9-02
(01DB)
Zero Servo Completion
Window
Sets the range to trigger an output terminal set for “Zero Servo Complete” during Zero Servo
operation. Be sure to set the deviation from the Zero Servo start position.
10
(0 - 16383)
When the position of the motor shaft is in the range of “Zero Servo start position ± b9-02”, the drive will activate a
MFDO set for Zero Servo Complete [H2-xx = 33].
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