Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 101)

4 Operation
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence
4-16
(2) Stopping Method for Servomotor When an Alarm Occurs
There are two types of alarms (Gr.1 and Gr.2) that depend on the stopping method when an alarm occurs.
Select the stopping method for the servomotor when an alarm occurs using Pn001.0 and Pn00B.1.
The stopping method for the servomotor for a Gr.1 alarm is set to Pn001.0.
The stopping method for the servomotor for a Gr.2 alarm is set to Pn00B.1.
Refer to the information on alarm stopping methods in 9.1.1 List of Alarms.
Stopping Method for Servomotor for Gr.1 Alarms
The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1) Stopping Method
for Servomotor after SV_OFF Command is Received.
Stopping Method for Servomotor for Gr.2 Alarms
∗ Zero-speed stopping: The speed reference is set to 0 to stop quickly.
Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for torque control
and only the setting of Pn001.0 will be valid.
Parameter Stop Mode
Mode After Stop-
ping
When Enabled Classification
Pn001
n. 0
[Factory setting] DB
DB
After restart Setup
n. 1 Coast
n. 2 Coast Coast
Parameter
Stop Mode
Mode After
Stopping
When
Enabled
Classifica-
tion
Pn00B Pn001
n. 0
[Factory setting]
n. 0
[Factory setting]
Zero-speed stop-
ping*
DB
After
restart
Setup
n. 1
Coast
n. 2
n. 1
n. 0
[Factory setting] DB
DB
n. 1
Coast
n. 2 Coast