Yaskawa Sigma Mini - Manual (Page 85)

2.4Setting Stop Mode
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2.4.2 Zero-clamp
What is the Zero-clamp Function?
The zero-clamp function is used for a system in which the host controller does not form a posi-
tion loop by speed reference input.
In other words, this function is used to stop the motor and enter a servo locked status when
the input voltage of speed reference V-REF is not 0 V. When the zero-clamp function is turned
ON, an internal position loop is temporarily formed, causing the motor to be clamped within
one pulse. Even if the motor is forcibly rotated by external force, it returns to the zero-clamp
position.
Host controller
Speed reference
Speed reference less than
Cn-0A setting is ignored
Stops
instantaneously
/P-CON
C N 5
CN3
CN4
CN2 CN1
Set the following memory switch so that input signal /P-CON can be used to enable or disable
the zero-clamp function.
Cn-01Bit A
Control Mode Selection Factory
Setting:0
For Speed/Torque Control
Cn-01Bit B
Control Mode Selection Factory
Setting:0
For Speed/Torque Control
→ Input /P-CON CN1-*1
Proportional Control, etc. For Speed/Torque
Control and
Position Control
2
Speed/Torque