Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III User Manual
Page 80
4.3 Basic Functions Settings
4-15
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4.3.5
Stopping Servomotors after SV_OFF Command or Alarm Occurrence
The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs.
(1) Stopping Method for Servomotor after SV_OFF Command is Received
The servomotor coasts to a stop when the servo is turned OFF.
(2) Stopping Method for Servomotor When an Alarm Occurs
There are two types of alarms, Gr.1 and Gr.2, that vary in the stopping method when the alarm occurs.
When a Gr.1 alarm occurs, the servomotor coasts to a stop.
When a Gr.2 alarm occurs, the stopping method that is set in Pn00B.1 is used.
Refer to the information on alarm stopping methods
in
8.1.1 List of Alarms
.
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. The setting of Pn00B.1 is ignored for
torque control and the servomotor coasts to a stop.
• The elements in the SERVOPACK will deteriorate if turning the power supply ON and
OFF or starting and stopping the servomotor during the servo ON status while there is
a reference input. Use a speed reference or position reference to start and stop the
servomotor.
• If turning OFF the main circuit power supply or the control power supply during opera-
tion without turning OFF the servo, the servomotor will coast to a stop. In this case,
the stop method cannot be set 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 stopping method is applicable. However, in some applications, coasting to a
stop may be more suitable than the zero-speed stopping method.
For example, for multiple shafts in coupled operation (e.g., a twin-drive operation),
machinery may damage due to differences in the stopping operation if a zero-speed
stop alarm occurs for one of the coupled shafts and the other coupled shaft coasts to
a stop. In such cases, change the stopping method so that the servomotor coasts to a
stop.
Parameter
Stop Mode
Mode After
Stopping
When
Enabled
Classifica-
tion
Pn00B
n.
0
[Factory setting]
Zero-speed stop-
ping*
Coast
After
restart
Setup
n.
1
Coast