Yaskawa MP940 Reference Manual - Manual (Page 283)

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters
6-83
Sequence-related Parameters
Below is a detailed list of sequence-related parameters.
Sequence Related Parameters
User
Parameter
Number
Digit
Position
Name
(setting
range)
Content
Default
Setting Control
Mode
Pn500
Positioning Completed
Width Command
Unit
0 ~ 250 Cannot be used with an MP940 7 Position
Pn501
Zero Clamp Level rpm
0 ~ 10000 This function is used in systems where
the upper-level device uses a Speed
Reference input, and no Position Loop
is integrated.For example, this is used
when motor stoppage and servo lock
are desired without the speed refer-
ence input voltage (INVRF) being 0.
When the zero-clamp function is turned
ON, a position loop is temporarily inte-
grated within the servo amplifier, result-
ing the motor being clamped to within 1
pulse of the current position. Even if
turned by an outside force, the shaft
returns to the zero-clamp position.
Zero Clamp Function
This is speed control which is capable
of setting the zero-clamp function dur-
ing stopping./The speed reference is
input from INVRF.ZCLAMP(OBC0015)
is used in turning ON/OFF the zero-
clamp function.
ZCLAMP = 0: Zero-clamp function OFF
ZCLAMP = 1: Zero-clamp ON 10 Speed
Speed
Reference
Speed References
below the (Pn501)
setting are ignored
ピタッ!
ZCLANP
（OBC0015）
Correct!
INVRF
BAT
RDY RUN ALM BAT PRT1
6 5 4 3
2
1 NO →
PRT2
RUN INIT
TEST
FLASH PP
COPY
PORT1
PORT2
POWER
+24V GND FG
LED
I/O
TX RX
1
2
M
E
C
H
A
T
R
O
L
I
N
K
MP940
MP940