Smooth Stop Operation; External Stop Operation - YASKAWA SGD7S Product Manual

13.3.6

Smooth Stop Operation

To execute a Smooth Stop command, the deceleration rate that is set for the motor is used to
stop the motor.
1.
If the Smooth Stop bit is set to 1 while the motor is moving, the motor decelerates to a
stop at the specified 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 smooth stop status can be cleared by clearing the Smooth Stop bit to 0. Execution
of the Smooth Stop command will continue even if the Smooth Stop bit is cleared to 0
during command execution (i.e., during deceleration).
Motor speed
Smooth Stop
Start Trajectory
Trajectory In
Progress
13.3.7

External Stop Operation

For the external stop operation, an emergency stop is performed in response to an external
signal.
If the external stop input signal (EXSTOP) is made active (turned OFF) while the motor is mov-
ing, a hard stop operation is performed. After the motor has stopped, the servo is turned OFF.
If the brake function has been set, the brake will be turned ON, and then the servo will be
turned OFF.
To return to normal operation, make EXSTOP inactive (turn ON). If the Enable bit is already set
to 1, the servo is turned ON automatically.
Motor speed
1
EXSTOP
0
1
Enable
0
1
Holding Brake
0
1
Enable State-R
0
1
Start Trajectory
0
Trajectory In
1
Progress
0
A1
1
0
1
0
1
0
A1
13.3 Controlling Operation from the Host Controller

13.3.6 Smooth Stop Operation

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