121[Connection and Setup of Position Control Mode]Connection and Setup ofPosition Control Mode61 10 to 20000 <50>r/minZero-speed You can set up the timing to feed out the zero-speed detection output signal(ZSP : CN X5, Pin-12 or TCL : CN X5, Pin-40) in rotational speed [r/min]. The zero-speed detection signal (ZSP) will be fed out when the motorspeed falls below the setup of this parameter, Pr61.• The setup of P61 is valid for bothCCW and CW direction regardlessof the motor rotating direction. • There is hysteresis of 10 [r/min].speedCWZSP ON(Pr61+10)r/min(Pr61–10)r/minCCW65 0 to 1 <1>– LV trip selection atmain power OFFYou can select whether or not to activate Err13 (Main power under-voltage protection) function while the main power shutoff continues for thesetup of Pr6D (Main power-OFF detection time). This parameter is invalid when Pr6D (Detection time of main powerOFF)=1000. Err13 (Main power under-voltage protection) is triggeredwhen setup of P66D is long and P-N voltage of the main converter fallsbelow the specified value before detecting the main power shutoff,regardless of the Pr65 setup. Refer to P.42, "Timing Chart-At Power-ON"of Preparation as well.Setup value 0 <1>Action of main power low voltage protection When the main power is shut off during Servo-ON, Err13 willnot be triggered and the driver turns to Servo-OFF. The driverreturns to Servo-ON again after the main power resumption. When the main power is shut off during Servo-ON, the driverwill trip due to Err13 (Main power low voltage protection).66 *0 to 2 <0>– Sequence at over-travel inhibitYou can set up the running condition during deceleration or after stalling,while over-travel inhibit input (CCWL : Connector CN X5, Pin-9 or CWL :Connector CN X5, Pin-8) is valid In case of the setup value of 2, torque limit during deceleration will belimited by the setup value of Pr6E (Torque setup at emergency stop ).Setup value <0> 1 2During deceleration Dynamic brake action Torque command=0 towards inhibited direction Emergency stopAfter stalling Torque command=0 towards inhibited direction Torque command=0 towards inhibited direction Torque command=0 towards inhibited directionDeviation counter content Hold Hold Clears before/ after decelerationStandard default : < >PrNo. Setup range UnitTitle Function/Content63 0 to 3 <0>– Setup of positioning complete (In-position) outputYou can set up the action of the positioning complete signal (COIN : Pin-39 of CN X5) in combination with Pr60 (Positioning complete range).Setup value <0> 1 2 3Action of positioning complete signalThe signal will turn on when the positional deviation is smallerthan Pr60 (Positioning complete range) The signal will turn on when there is no position command and thepositional deviation is smaller than Pr60 (Positioning complete range). The signal will turn on when there is no position command, thezero-speed detection signal is ON and the positional deviation issmaller than Pr60 (Positioning complete range). The signal will turn on when there is no position command and thepositional deviation is smaller than Pr60 (Positioning complete range).Then holds "ON" status until the next position command is entered.• For parameters which No. have a suffix of "*", changed contents will be validated when you turn on thecontrol power.
