YASKAWA SGM Series User Manual page 129

User Constants
7.1.7 Memory Switches
7
D The motor decelerats to a stop with the torque specified in the emergency stop torque constant
(Cn-0006) when Cn-0001 bit 8 is set to 1.
J Cn-0001 Bit 9: Holding Method After An Emergency Torque
Deceleration Stop at Overtravel
D Sets the holding method after an emergency torque deceleration stop when overtravel occurs.
D Zero clamping (by position control) after the motor stops when Cn-0001 bit 9 is set to 1.
Normally set this to 1.
0
Bit 6
Overtravel
1
0
Bit 8
1
Stop Sequence in the Overtravel (OT)
J Cn-0001 Bit 10: Servo OFF Position Error
D The position error is held when Cn-0001 bit 10 is set to 1.
J Cn-0001 Bit 11: Mode Switch Function
D Sets whether the mode switch function will be used.
D The function is disabled when Cn-0001 bit 11 is set to 1.
J Cn-0001 Bits 12 And 13: Mode Switch Selection
D Selects mode switch switching conditions. See 5.9.2 (pages 5 -20) for details on the mode
switch.
Bits 13 and 12 = 0, 0: Torque
Bits 13 and 12 = 0, 1: Nothing (Do not use this setting.)
Bits 13 and 12 = 1, 0: Acceleration
Bits 13 and 12 = 1, 1: Error pulse
D The mode switch switching level can be set by Cn-000C to Cn−000F.
J Cn-0001 Bit 14: Encoder Selection
D Sets Cn-0001 bit 14 to 0 for an incremental encoder and to 1 for an absolute encoder.
D The setting can only be changed once after power is turned ON, but do not change the setting
during motor running.
Stopping Method
After Stopping
DB Stopping
DB Release
Coasting to a
stop
0
Servo OFF
Deceleration
Bit 9
stopping
Zero clamp-
1
ing
7 -10