Yaskawa Sigma II Series Servo System - Manual (Page 94)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5 - 8
Note: For torque control, the servomotor will be placed in coast status after either decelerating or coasting
to a stop (according to the stop mode set in Pn001.0), regardless of the setting of Pn001.1.
Pn406 specifies the stop torque applied for overtravel when the input signal for
prohibiting forward or reverse rotation is used.
The torque limit is specified as a percentage of rated torque.
Parameter Signal Setting Control Mode
Pn001.1 Overtravel Stop Mode Default Setting: 0
Speed/Torque Control,
Position Control
Parameter Signal Setting Description
Pn001.1 Overtravel Stop Mode
0
Stops the servomotor the same way as turning the servo
OFF (according to Pn001.0).
1
Decelerates the servomotor to a stop at the preset torque,
and then locks the servomotor in Zero Clamp Mode.
Torque setting: Pn406 Emergency Stop Torque
2
Decelerates the servomotor to a stop at the preset torque,
and puts the servomotor in coast status.
Torque setting: Pn406 Emergency Stop Torque
Parameter Signal
Setting
(%)
Control Mode
Pn406
Emergency Stop Torque
(Valid when Pn001.1 is 1 or 2)
Range: 0% to Maximum
Torque
Default Setting: 800
Speed/Torque Control,
Position Control
Coast status
Zero clamp
Coast to a stop
Decelerate to a stop
Stop by dynamic brake
Coast status
Overtravel Stop Mode
Pn001.0 = 0, 1
Pn001.1 = 0
2
Pn001.1 = 1 or 2
After stopping Pn001.1
setting
0
1
2
Max. torque setting for an
emergency stop
Forward run
prohibit input
P-OT (CN1-42)
Reverse run
prohibit input
N-OT (CN1-43)
Stop Mode
Pn406
Stop by dynamic brake
Coast to a stop
Decelerate to a stop