YASKAWA SGD7S

6.6 Position Control
6.6.2 CLR (Position Deviation Clear) Signal Function and Settings
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6.6.2 CLR (Position Deviation Clear) Signal Function and Set-
tings
The CLR (Position Deviation Clear) signal is used to clear the deviation counter in the SERVO-
PACK.
As long as the CLR signal is ON, the deviation counter will be 0, so a position loop will not be
formed.
CLR (Position Deviation Clear) Signal
Setting the Form of the CLR (Position Deviation Clear) Sig-
nal
You set the CLR signal form to use to clear the deviation counter in Pn200 = n.X (Clear
Signal Form).
Setting the Clear Operation (Pn200 = n.X)
This parameter determines when the position error should be set to zero according to the con-
dition of the SERVOPACK. Set Pn200 = n.X (Clear Operation).
Deviation counter
The deviation counter counts the deviation between the reference input pulses and the feedback
pulses from the encoder (i.e., the accumulated pulses).
Typ e Signal Connector Pin No. Name
Input
CLR CN1-15
Position deviation clear input
/CLR CN1-14
Parameter Reference Form Clear Timing
When
Enabled
Classification
Pn200
n.0
(default setting)
Clear position deviation
when the signal is at high
level.
After restart Setup
n.
1
Clear position deviation
on the rising edge of the
signal.
n.
2
Clear position deviation
when the signal is at low
level.
n.3
Clear position deviation
on the falling edge of the
signal.
The pulse width of the CLR signal must meet the following condition.
• If Pn200 = n.X is set to 0 or 2, the width of the CLR signal must be at least 250 μs to
reset the deviation counter.
• If Pn200 = n.X is set to 1 or 3, the width of the CLR signal must be at least 20 μs to
reset the deviation counter.
Parameter Meaning When Enabled Classification
Pn200
n.
0
(default setting)
Clear position deviation at a base block (at
servo OFF or when alarm occurs).
After restart Setup
n.
1
Do not clear position deviation. The position
deviation is cleared only with CLR (Clear Posi-
tion Deviation) signal.
n.
2 Clear position deviation when an alarm occurs.
Term
CLR
(CN1-15)
Cleared.
ON
CLR
(CN1-15)
ON
Cleared here just once.
CLR
(CN1-15)
OFF
Cleared.
CLR
(CN1-15)
Cleared here just once.
OFF
Information