Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference User Manual
Page 128
5 Operation
5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence
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5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence
The servomotor stopping method can be selected after the /S-ON (Servo ON) signal turns OFF or an alarm
occurs.
(1) Stopping Method for Servomotor after /S-ON Signal is Turned OFF
Use Pn001.0 to select the stopping method for the servomotor after the /S-ON signal is OFF.
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.
(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 10.1.1 List of Alarms.
• 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 /S-ON signal is ON and OFF with a
reference input applied to start and stop the servomotor, which may result in deterio-
ration 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
/S-ON signal is not OFF, the stopping method for servomotor cannot be set in the
parameters. Use the following method to stop the servomotor.
If turning OFF the main circuit power supply, but the /S-ON signal is not OFF, the ser-
vomotor will be stopped by dynamic braking.
If turning OFF the control power supply, but the /S-ON signal is not OFF, 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
/S-ON signal is not OFF, 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