Synchronized Stopping Timing Chart - YASKAWA Sigma-7 Series Product Manual

4.1.1

Synchronized Stopping Timing Chart

The following timing chart shows when Synchronized Stopping mode 1 or 2 is selected.
In Synchronized Stopping mode 3, both axes are almost simultaneously set to the servo OFF
Information
state immediately after an alarm occurs. Therefore, CSTP_S which represents the synchro-
nized stopping status will not change, but it will instead remaining as the during normal oper-
ation status.
Feedback peed
Active alarm axi
Pn666
( ynchronized topping
End peed)
Feedback peed
ynchronized
topping axi
C TP_ in
VCMD_IO field
ervo ON/OFF tatu
A.97C
( ynchronized topping
Occurred)
*
During synchronized stopping, only emergency commands will be received.
Refer to the following section for details on CSTP_S (Synchronized Stopping Status).
Details of I/O Signal Status Bits on page 4-8
Ending Synchronized Stopping
Information
When any of the following states occur, CSTP_S (Synchronized Stopping Status) in the SVC-
MD_IO field will become "0: During normal operation", and synchronized stopping will end
with the servo OFF state.
• When feedback speed is less than Pn666 (Synchronized Stopping End Speed) (normal
• When the SV_OFF or DISCONNECT command was received
• When the synchronized stopping axis changes to the servo OFF state due to an alarm or
After synchronized stopping ends, commands can be received from the host controller.
peed
0
Normal tatu
Alarm tatu
peed
0
During normal operation
Normal tatu
end)
for other reasons
4.1.1 Synchronized Stopping Timing Chart
An alarm occur .
Alarm tatu
During
ynchronized
topping*
ON
Warning tatu
4.1 Outline
Time
Track the active
alarm axi and top .
Time
OFF
4
4-3