5.4 Speed control
5.4.1 Speed mode general control
5.4.1.1 Soft start
Soft Start
Acceleration Time
Soft Start
deceleration Time
Soft start acceleration and deceleration time is suitable for mode 3/4/7. Smooth speed control can be
carried out when step speed instruction is input or internal setting speed is selected.
P3-09: Time from stop to rated speed
P3-10: Time from rated speed to stop
Target speed
Rated speed
Speed up time
P3-09
Speed down
time
P3-10
5.4.1.2 Zero clamp (/ZCLAMP)
1. Overview
This function is used when host controller uses speed command input and the servo system isn’t
configured the position loop. In other words, the function will be used when the motor must stop and
enter lock state even the V-REF input voltage is not zero.
When set ON the zero clamp function, it will configure the position loop inside the servo, the motor
will do zero clamp within ±1 pulse at this position. The motor will return to zero clamp position even it
is run by external force.
The present speed must be smaller than zero clamp speed when using zero clamp function, it can clamp
the motor shaft from moving. The motor will switch from speed mode to position mode when starting
the zero clamp function. At this time, rotate the motor shaft, it will return to the original position. It will
not return to original position in speed mode, because it has no position feedback.
2. Input signal setting
Defaulted is not distribute to input
terminal
/Z-CLAMP signal is
distributed to input
terminal by parameter
P5-31, Range:
0000-0014.
Input signal from SI2 terminal
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