Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 102)

4.2 Settings for Common Basic Functions
4-19
Operation
(2) Stopping Method for Servomotor When an Alarm Occurs
There are two type of alarms (Gr.1 and Gr.2), depending 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 for the servomotor after
the servo 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
Stopping
Meaning When Enabled Classification
Pn001
n. 0
Stop by
dynamic brake
Dynamic
Brake
Stops the servomotor by dynamic braking
(DB), then holds it in Dynamic Brake
Mode. [Factory setting]
After restart Setup
n. 1 Coast
Stops the servomotor by dynamic braking
(DB), then places it into Coast Mode.
n. 2 Coast to a stop Coast
Stops the servomotor by coasting, and
continues in Coast Mode.
Parameter
Stop Mode
Mode After
Stopping
Meaning
When
Enabled
Classifica-
tion
Pn00B Pn001
n. 0
[Factory
setting]
n. 0
[Factory setting]
Zero-speed
stopping
*
Dynamic
Brake Stops the servomotor by zero-speed stop,
then holds it in Dynamic Brake Mode.
After
restart
Setup
n. 1
Coast
Stops the servomotor by zero-speed stop,
then places it into Coast Mode.
n. 2
Stops the servomotor by zero-speed stop,
then places it into Coast Mode.
n. 1
n. 0
[Factory setting] Stops by
dynamic
brake
Dynamic
Brake
Stops the servomotor by dynamic braking
(DB), then holds it in Dynamic Brake
Mode.
n. 1
Coast
Stops the servomotor by dynamic braking
(DB), then places it into Coast Mode.
n. 2 Coast to stop
Stops the servomotor by coasting, and
continues in Coast Mode.