Stopping Method For Servo Off; Servomotor Stopping Method For Alarms - YASKAWA Sigma-7S Series Product Manual

5.2 Motor Stopping Methods for Servo OFF and Alarms

5.2.1 Stopping Method for Servo OFF

5.2.1

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.
For a SERVOPACK that does not support a dynamic brake or for a SERVOPACK that supports
an external dynamic brake but to which an external dynamic brake resistor is not connected,
set Pn001 to n.2 (Coast the motor to a stop without the dynamic brake).
The default settings are different for different SERVOPACK models.
• SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, and SGD7W-1R6A to -2R8A (no dynamic
brake): Pn001 = n.2
• SGD7S-3R8A to -780A and SGD7W-5R5A to -7R6A (external dynamic brake resistor):
Pn001 = n.0
Pn001
*
If an external dynamic brake resistor is not connected, the Servomotor will coast to a stop.
Note: 1. If Pn001 is set to n.0 (Stop the motor by applying the dynamic brake) and the Servomotor is stopped
2. If Pn001 is set to n.0 (Stop the motor by applying the dynamic brake) when using an SGD7S-R70A
5.2.2

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.
To determine if the triggered alarm is Gr.1 or Gr.2, refer to the standard SERVOPACK product
manual.
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.
5.2.1 Stopping Method for Servo OFF on page 5-4
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-speed stop.
• 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.
5-4
Parameter

n. 0

n. 1

n. 2
or operates at a low speed, braking force may not be generated, just like it is not generated for coasting to
a stop.
to -2R8A, SGD7S-R70F to -2R8F, or SGD7W-1R6A to -2R8A, an A.042 (Parameter Combination Error)
alarm will occur.
Servomotor Stop-
ping Method Servomotor Stops
Dynamic brake*
Dynamic brake*
Coasting
Coasting Coasting
Status after When
Enabled
After restart
Classifi-
cation
Setup