Yaskawa Sigma Mini - Manual (Page 55)

2.2Setting Parameters According to Host Controller
— 2-11 —
Cn-01
Setting Control Mode
Bit B Bit A
Control Mode
0 0
Speed Control
This is normal speed control.
D Speed reference is input from V-REF.
D /P-CON signal is used to switch between P
control and PI control.
Servopack
Speed
reference
P/PI
changeover
(CN1-12)
(CN1-*1)
/P-CON
0 0
CN1-*1 is
open
PI control
CN1-*1 is at
0 V
P control
D Torque reference input T-REF cannot be
used.
0 1
Zero-clamp Speed Control
This speed control allows the zero-clamp
function to be set when the motor stops.
D Speed reference is input from V-REF.
D /P-CON signal is used to turn the
zero-clamp function ON or OFF.
Zero-clamp
Zero-clamp is performed when
the following two conditions are
met:
Condition 1: /P-CON is turned
ON.
Condition 2: Motor speed drops
below the preset value.
Preset value: Cn-0F (ZCLVL)
Servopack
Speed
reference
(CN1-12)
(CN1-*1)
/P-CON
0 1
CN1-*1 is
open
Turns zero-clamp
function OFF
CN1-*1 is at
0 V
Turns zero-clamp
function ON
D Torque reference input T-REF cannot be
used.
1 0 Torque control
For details on torque control, refer to 2.2.7 Torque Control.
2