Hard Stop Operation - YASKAWA SGD7S Product Manual

13.3 Controlling Operation from the Host Controller

13.3.5 Hard Stop Operation

Important

13.3.5 Hard Stop Operation

To execute a Hard Stop command, the maximum deceleration is used to stop the motor.
1.
If the Hard Stop bit is set to 1 while the motor is moving, the motor will decelerate to a
stop using the maximum deceleration rate.
2.
After the motor stops, the target position is set to the current position, and the On Target
Position bit is set to 1.
3.
The hard stop status can be cleared by clearing the Hard Stop bit to 0. Execution of the
Hard Stop command will continue even if the Hard Stop bit is cleared to 0 during com-
mand execution (i.e., during deceleration).
Motor speed
Hard Stop
Start Trajectory
Trajectory In
Progress
13-20
• Setting the Parameters
Make sure that the following parameters are set to the correct values.

Pn
PnB12 Coordinate Type Selection
PnB13 Reference Units per Machine Revolution
PnB54 Positioning Approach Speed
PnB55 End Position
PnB59 Approach Mode
• Using an Explicit Message
Make sure that the following attributes are set to the correct values.
Object Attribute
200
0x25
201
32
0x64 33
99
A1
1
0
1
0
1
0
Parameter Name
Attribute Name
Approach speed for positioning
End position
Coordinate Type
Command value per machine rotation
Approach Mode
Hard stop
Value
0001 hex
Depends on the
system.