79
◢
0
：
Lock, the clamping position loop control is the mode, involved in internal ring loop control, gain by Pn167 Settings.
◢
1
Locked, clamping way is speed loop control, speed instruction forced to 0, location may change due to external
force.
number
name
value range
the
default value
unit
apply
Pn164
Zero speed clamp is triggered
0~1
0
S
◢
0
：
SigIn port ZeroLocK to ON
◢
1
：
Triggered when the speed instruction below Pn165 parameters
number
name
value
range
the
default value
unit
apply
Pn165
The clamp level zero speed
0~200
6
r/min
S
◢
When Pn164 is set to 1, and the speed instruction below this parameter value,
the lock on the motor shaft. Example: this parameter is set to 10 r/min, if the analog speed instruction -
10
r/min ~ 10 r/min, within the scope of the deceleration clamp, in order to prevent the analog speed
instruction near the zero drift, lead to the motor shaft instability.
number
name
value range
the
default value
unit
apply
Pn166
Zero speed clamp deceleration time
5~10000
50
ms
S
◢
When zero velocity clamp when triggered, immediately according to deceleration time to slow down to zero, and then to lock.
number
name
value
range
the
default value
unit
apply
Pn167
Internal position controller gain
5~2000
100
%
All
number
name
value
range
the
default value
unit
apply
