Yaskawa Sigma II Series Servo System - Manual (Page 147)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5-61
Position Control (Pulse Train Reference) ↔ Torque Control
(Analog Reference)
This mode switches between position and torque control through the /P-CON
(/C-SEL) signal.
Torque Control (Analog Reference) ↔ Speed Control (Analog
Reference)
This mode switches between torque and speed control through the /P-CON (/C-SEL)
signal. See 5.2.7 Using Torque Control.
Speed Control (Analog Reference) ↔ Zero Clamp
This speed control mode is used to set the zero clamp function when the servo
amplifier is stopped. Zero clamp operates when the /P-CON (/ZCLAMP) signal is
ON (low level). See 5.4.3 Using the Zero Clamp Function.
Position Control (Pulse Train Reference) ↔ Position Control
(Inhibit)
This mode controls positioning by inhibiting reference pulse input through the
/P-CON (/INHIBIT) signal. See 5.2.11 Reference Pulse Inhibit Function (/
INHIBIT)