Servo Off Command (Sv_Off: 32H) - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.8 Servo OFF Command (SV_OFF: 32h)

3.2.8

Servo OFF Command (SV_OFF: 32h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3-34
2, 3
Time set with
Pn506
500 ms max.
SV_OFF
Command Response
32h 32h
WDT RWDT
CMD_CTRL CMD_STAT
SVCMD_CTRL SVCMD_STAT
SVCMD_IO SVCMD_IO
CPRM_SEL_
MON1
CPRM_SEL_
MON2
Reserved MONITOR1
MONITOR2
MONITOR3
Command Servo standard
command
Classification
Subcommand
Description
• The SV_OFF command shuts the power to the servo-
motor.
• Confirm the completion of the command execution by
checking that RCMD = SV_OFF (= 32h) and
CMD_STAT.CMDRDY = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters.
• When Pn829 (SVOFF Waiting Time (for SVOFF at Decel-
eration to Stop) is set to a value other than "0", the
servo will be turned OFF after the servomotor deceler-
ates to a stop according to the deceleration constant
for stopping set by the parameter. (The servomotor
decelerates to a stop in position control mode.)
• When Pn829 (SVOFF Waiting Time (for SVOFF at Decel-
eration to Stop) is set to "0", the servo will be turned
OFF immediately after reception of this command
(default setting).
(The control mode before receiving the SV_OFF com-
mand remains unchanged.)
• Executing the SV_OFF command will cancel the speed
reference, speed feedforward, torque feedforward, and
torque limits set by a position/speed control command.
Asynchronous
command
Can be used