Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference User Manual
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4.3 Basic Functions Settings
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4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence
The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs.
(1) Stopping Method for Servomotor after SV_OFF Command is Received
Use Pn001.0 to select the stopping method for the servomotor after the SV_OFF command is received.
Note: Similar to the Coast Mode, the n.
0 setting (which stops the servomotor by dynamic braking and then holds it
in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very
low speed.
• Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre-
quently if the power is turned ON and OFF or the SV_ON command and SV_OFF
command are received with a reference input applied to start and stop the servomo-
tor, which may result in deterioration of the internal elements in the SERVOPACK.
Use speed input references or position references to start and stop the servomotor.
• If the main circuit power supply or the control power supply is turned OFF but the
SV_OFF command has not been received, the stopping method for servomotor can-
not be set in the parameters. Use the following method to stop the servomotor.
If turning OFF the main circuit power supply, but the SV_OFF command has not been
received, the servomotor will be stopped by dynamic braking.
If turning OFF the control power supply, but the SV_OFF command has not been
received, the stopping method will vary with the SERVOPACK model. Two stopping
methods are available.
• SERVOPACK models for servomotors that stop by coasting:
SGDV-330A, -470A, -550A, -590A, -780A, -280D, -370D
• SERVOPACK models for servomotors that stops by dynamic braking:
All SERVOPACKs other than those listed for coasting.
• If the servomotor must be stopped by coasting rather than by dynamic braking when
the main circuit power supply or the control power supply is turned OFF but the
SV_OFF command has not been received, arrange the sequence externally so the
current will be cut off for servomotor wires U, V, and W.
• To minimize the coasting distance of the servomotor to come to a stop when an alarm
occurs, the zero-speed stopping method is factory-set for alarms to which the zero-
speed stop method is applicable. The DB stopping method may be more suitable than
the zero-speed stopping method, however, depending on the application.
For example, for multiple axes coupling operation (a twin-drive operation), machinery
damage may result if a zero-speed stop alarm occurs for one of the coupled shafts
and the other shaft stops by dynamic brake. In such cases, change the method to the
DB stopping method.
Parameter
Stop Mode
Mode After Stopping When Enabled Classification
Pn001
n.
0
[Factory setting]
DB
DB
After restart
Setup
n.
1
Coast
n.
2
Coast
Coast