YASKAWA SGMJV User Manual page 93

(3) Servomotor Stopping Method When Overtravel is Used
There are three servomotor stopping methods when an overtravel is used.
• Dynamic brake
By short-circuiting the electric circuits, the servomotor comes to a quick stop.
• Decelerate to a stop
Stops by using emergency stop torque.
• Coast to a stop
Stops naturally, with no control, by using the friction resistance of the servomotor in operation.
After servomotor stopping, there are two modes.
• Coast mode
Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.
• Zero clamp mode
A mode forms a position loop by using the position reference zero.
The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is
operating can be set with parameter Pn001.
Parameter
n.00
[Factory setting]
n.01
Pn001
n.02
n.1
n.2
• A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the
dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops,
the servomotor will enter a coast state.
• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs,
refer to 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence.
 When Servomotor Stopping Method is Set to Decelerate to Stop
Emergency stop torque can be set with Pn406.
Emergency Stop Torque
Pn406
Setting Range
0 to 800
∗
Percentage (%) of rated motor torque.
Note: The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum torque.
The maximum value of emergency stop torque that is actually available, however, is limited to the maximum torque
of the servomotor.
Mode After
Stop Method
Stopping
DB
Coast
Coast
Zero clamp
Deceleration to a stop
Coast
Speed
Setting Unit Factory Setting
*
1%
4.3 Basic Functions Settings
When Enabled Classification
After restart
Position Torque
When Enabled
800 Immediately
Setup
Classification
Setup
4
4-7