YASKAWA MP2000 Series User Manual page 304

( 2 ) Parameter Settings
The SERVOPACK parameters related to control the holding brake are described below.
Parameter
Cn-2D OUTSEL Output Signal Selection
Details
The following parameter determines which pin of the 1CN will be used to output the /BK signal (4 in the lower
right column). In the figure above, 4 is allocated to the 2nd digit and the setting is 4. So, the /BK signal is out-
put to pins 27 and 28.
Allocation
1st digit: CN1-25, 26 (Factory setting: 0)
2nd digit: CN1-27, 28 (Factory setting: 1)
3rd digit: CN1-29, 30 (Factory setting: 2)
Parameter
Cn-12 Brake ON Timing after Motor Stops
Details
This parameter adjusts the Delay Time from /BK Signal Output until Servo OFF (stopping Servomotor output), and
it is used to be set when the machine moves slightly due to gravity or other factors after turning the brake ON.
 This parameter is used to set the timing when the motor is stopped. Brake operation while the motor
is running is set in Cn-15 and Cn-16.
 For the standard settings, the Servo will turn OFF simultaneously with the /BK output (Brake Opera-
tion). If gravity causes the machine to move slightly at this time due to machine configuration or
brake characteristics, turning OFF the Servo can be delayed to reduce the movement.
Parameter
Cn-15
Brake ON Timing when Motor
Running
Cn-16
Details
Cn-15: Speed Level for BK Signal Output when Motor Running
Cn-16: Timing of BK Signal Output when Motor Running
These settings are used to set the timing for applying the brake when the Servo turns OFF due to an /S-ON input
signal or alarm.
Name Unit
Name Unit
10 ms
/S-ON input
/BK output
Servo ON/OFF
operation (motor
ON status)
Name Unit
min
10 ms
/S-ON input or
Servo ON
Servo OFF
alarm occurred.
Power OFF
Stop with dynamic
brake or by coasting
Motor speed
(Cn0001 bit 6)
−1
(min )
Cn-15
Brake
released
/BK output
Cn-16
11.1.3 Connections to Σ-I Series SGDB SERVOPACK
Setting/Range Default
– 110 to 666 210
Set Value and Function
0: /COIN/ /V-CMP (Valid only at the 1st digit.)
1: /TGON
2: /S-RDY
3: /CLT
4: /BK
5: OL warning
6: OL alarm
Setting/Range Default
0 to 50 0
Servo ON
Servo OFF
Brake
released
Brake holding
Motor ON
Motor
OFF
Cn-12
Servo OFF
delay time
Setting/Range Default
−1
0 to max. speed 100
0 to 100 50
 The brake on the Servomotor is
designed as a holding brake and it
must be applied only after the motor
has stopped. Adjust this parameter
Brake holding
while observing machine operation.
11.1 Controlling Vertical Axes
Control Mode
Speed, torque, position control
Control Mode
Speed, torque, position control
Control Mode
Speed, torque, position control
Speed, torque, position control
11
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