Chapter 6 Communication function
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6.4.2
Stop function
When the servo driver needs to be stopped due to motion control or servo driver failure,
the PROFIDrive defined deceleration function can be combined with servo deceleration
function (EMG, dynamic brake stop, free running stop, instant stop, etc.) to achieve the "stop
function".
1. EMG emergency stop
When EMG(emergency shutdown) in DI is ON, the driver directly cuts off the motor
current, and the motor stops freely. After the motor stops, it switches to a Switching On
Inhibited state.
2. OFF1 ramp parking
When STW1.0 goes from 1 to 0, the deceleration stop is performed according to the
setting of parameter P321(ramp deceleration time).
P321 Ramp deceleration time
Range Default value Unit Usage
1～30000 1000 ms ALL
P321 parameter sets the deceleration time of the motor from rated speed to zero speed. If
the current speed is lower than the rated speed, the deceleration time required is
correspondingly shortened.
Related actions in the deceleration process are as follows:
In the deceleration process, when STW1.1 from 1→0, the deceleration process is
switched from slope stop to free stop, the driver directly cuts off the motor current, and
after the motor stops, converts to Switching On Inhibited state.
During the deceleration process, when STW1.2 went from 1 to 0, the Ramp Stop
Switching Off was switched to Quick Stop Switching Off. The deceleration process
started from the current speed, and the setting of deceleration time was switched from
Ramp deceleration time to fast deceleration time.
After the deceleration is complete or STW1.3 goes from 1 to 0, the Ramp Stop Switching
Off is switched to Ready For Switching On.
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