Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface User Manual

Page 115

4.2 Basic Functions Settings

4-19

Ope

rat

ion

4.2.8 Stopping Servomotors after Turning OFF Servo ON Command or Alarm

Occurrence

The servomotor stopping method can be selected after the Servo ON command is turned OFF or an alarm

occurs.

(1) Stopping Method for Servomotor after Servo ON Command is Turned OFF

Use Pn001.0 to select the stopping method for the servomotor after the Servo ON command is turned OFF.

∗ Always connect a dynamic brake circuit for these settings.

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 9.1.1 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 Servo ON command is turned ON
and OFF with a reference input applied to start and stop the servomotor, which may
result in deterioration of the internal elements in the SERVOPACK and converter.
Use speed input references or position references to start and stop the servomotor.

• If you turn OFF the control power supply during operation without turning OFF the

servo, the servomotor will coast to a stop. In this case, you cannot set the stop
method in a parameter.

• 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

[Factory setting]

After restart

Setup

Coast