Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference User Manual
Page 92
4.3 Basic Functions Settings
4-7
4
Ope
rat
ion
(3) Servomotor Stopping Method When Overtravel is Used
There are three servomotor stopping methods when an overtravel is used.
• Dynamic brake
By short-circuiting the electric circuits, the servomotor comes to a quick stop.
• Decelerate to a stop
Stops by using emergency stop torque.
• Coast to a stop
Stops naturally, with no control, by using the friction resistance of the servomotor in operation.
After servomotor stopping, there are two modes.
• Coast mode
Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.
• Zero clamp mode
A mode forms a position loop by using the position reference zero.
The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is
operating can be set with parameter Pn001.
• A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the
dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops,
the servomotor will enter a coast state.
• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs,
refer to 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence.
When Servomotor Stopping Method is Set to Decelerate to Stop
Emergency stop torque can be set with Pn406.
• The setting unit is a percentage of the rated torque.
• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum
torque. The maximum value of emergency stop torque that is actually available, however, is limited to the
maximum torque of the servomotor.
Parameter
Stop Method
Mode After Stop-
ping
When Enabled Classification
Pn001
n.
00
[Factory setting]
DB
Coast
After restart
Setup
n.
01
n.
02
Coast
n.
1
Deceleration to a stop
Zero clamp
n.
2
Coast
Pn406
Emergency Stop Torque
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Setup
Speed
Position
Torque