YASKAWA MP2000 Series User Manual page 306

( 2 ) Parameter Settings
The SERVOPACK parameters related to controlling the brake are described below.
Parameter
Brake ON Timing after
Cn-12
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 Oper-
ation). 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.
 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 while observing machine operation.
Name Unit
10 ms
/S-ON input
/BK output
Servo ON/OFF
operation (motor
ON status)
Name Unit
−1
min
10 ms
/S-ON input or
alarm occurred.
Power OFF
Motor speed
(min −1 )
Cn-15
/BK output
11.1.4 Connections to Σ-I Series SGDA SERVOPACK
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
0 to max. speed 100
10 to 100 50
Servo ON
Servo OFF
Stop with dynamic
brake or by coasting
(Cn0001 bit 6)
Brake
released
Brake holding
Cn-16
11.1 Controlling Vertical Axes
Control Mode
Speed, torque, position
control
Control Mode
Speed, torque, position
control
Speed, torque, position
control
11-7
11