Stopping Method For Servo Off; Servomotor Stopping Method For Alarms - YASKAWA SGD7S-1R9D Product Manual

5.12 Motor Stopping Methods for Servo OFF and Alarms

5.12.1 Stopping Method for Servo OFF

5.12.1 Stopping Method for Servo OFF

Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Servo OFF or
Alarm Group 1 Stopping Method).
To use the dynamic brake to stop the motor, set Pn001 to n.0 or n.1.
If you do not connect an external dynamic brake, set Pn001 to n.2 (Coast the motor to a
stop without the dynamic brake).
Pn001
(2001 hex)
*
If the built-in or an External Dynamic Brake Resistor is not connected, the Servomotor will coast to a stop.
Note: If Pn001 is set to n.0 (Stop the motor by applying the dynamic brake) and the Servomotor is stopped or
operates at a low speed, braking force may not be generated, just like it is not generated for coasting to a
stop.

5.12.2 Servomotor Stopping Method for Alarms

There are two types of alarms, group 1 (Gr. 1) alarms and group 2 (Gr. 2) alarms. A different
parameter is used to set the stopping method for alarms for each alarm type.
Refer to the following section to see which alarms are in group 1 and which are in group 2.
15.2.1 List of Alarms on page 15-5
Motor Stopping Method for Group 1 Alarms
When a group 1 alarm occurs, the Servomotor will stop according to the setting of Pn001 =
n.X. The default setting is to stop by applying the dynamic brake.
Refer to the following section for details.
5.12.1 Stopping Method for Servo OFF on page 5-38
Motor Stopping Method for Group 2 Alarms
When a group 2 alarm occurs, the Servomotor will stop according to the settings of the follow-
ing three parameters. The default setting is for zero clamping.
• Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method)
• Pn00A = n.X (Motor Stopping Method for Group 2 Alarms)
• Pn00B = n.X (Motor Stopping Method for Group 2 Alarms)
However, during torque control, the group 1 stopping method is always used.
If you set Pn00B to n.1 (Apply dynamic brake or coast Servomotor to a stop), you can
use the same stopping method as group 1. If you are coordinating a number of Servomotors,
you can use this stopping method to prevent machine damage that may result because of dif-
ferences in the stopping method.
The following table shows the combinations of the parameter settings and the resulting stop-
ping methods.
5-38
Servomotor Stop-
Parameter

n. 0
Dynamic brake *
(default setting)

n. 1

n. 2 Coasting
Status after Servo-
ping Method motor Stops
Dynamic brake *
Coasting
Coasting
Classifi-
When Enabled
cation
After restart Setup