5.3 Speed Control5-275 Operation5.3.5 Zero Clamp FunctionThe zero clamp function locks the servo when the input voltage of the speed reference (V-REF) drops belowthe speed set in the zero clamp level (Pn501) while the zero clamp signal (/P-CON or /ZCLAMP) is ON. TheSERVOPACK internally forms a position loop, ignoring the speed reference.The zero clamp function is used for systems in which the host controller does not form a position loop for thespeed reference input.The servomotor is clamped within one pulse of the position when the zero clamp function is turned ON, andwill still return to the zero clamp position even if it is forcibly rotated by external force.Adjust the position loop gain (Pn102) if the servomotor oscillates in the zero clamp state. If the gain switchingfunction is used, adjusting the 2nd position loop gain (Pn106) is required as well. For details, refer to 6.8.1Switching Gain Settings.(1) Factory-set Input Signal Allocations (Pn50A.0 = 0)When Pn000.1 is set to A, the control method becomes "speed control <=> speed control with zero clampfunction" and the /P-CON signal is used as a zero clamp signal.Host controller Speed referenceStops precisely!V-REF/P-CONZero clamp(/ZCLAMP)AnalogV-REF speed referenceSpeed/P-CON (/ZCLAMP)input signalZero clampfunctionTimeONONONOFF OFFOFFSet value for zeroclamp level (Pn501)AnalogType ConnectorPin Number Setting MeaningInput /P-CON CN1-41[Factory setting]ON(closed)The zero clamp function will be turned ON if the input volt-age of the speed reference (V-REF) drops below the set speedin the zero clamp level (Pn501).OFF(open) Turns OFF the zero clamp function.Parameter Control Method When Enabled ClassificationPn000 n.A Speed control <=>speed control with zero clamp function After restart Setup
