8.3 Setting Common Basic Functions
8-21
(3) Selecting the Motor Stop Method When Overtravel is Used
This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the motor is operating.
* For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 8.3.5 Selecting the Stopping
Method After Servo OFF.
(4) Setting the Stop Torque for Overtravel
Parameter Stop Mode
Mode After
Stopping
Meaning
Pn001
n.
00
Stop by dynamic
brake
Holding
Dynamic Brake
Mode
Rapidly stops the servomotor by using dynamic
braking (DB), then keeps it in Dynamic Brake Mode
after the servomotor stops.
n.
01
Coast
Rapidly stops the servomotor by using dynamic
braking (DB), then puts it into Coast (power OFF)
Mode.
n.
02
Coast to a stop
Coasts to a stop, then places it into Coast (power
OFF) Mode.
n.
1
Decelerate to stop
Zero Clamp
Decelerates the servomotor with emergency stop
torque (Pn406), then places it into Zero Clamp (Ser-
volock) Mode.
n.
2
Coast
Decelerates the servomotor with emergency stop
torque (Pn406), then places it into Coast (power
OFF) Mode.
• In each setting, only the servomotor stopping method can be selected during torque control. After the servomotor stops, it
maintains the coasting to a stop status regardless of the setting.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
• During n.02 Coast Mode, SERVOPACK can be resumed using the servo ON signal.
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake.
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
• Decelerate to stop: Stops by using deceleration (braking) torque.
• Zero Clamp Mode: A mode forms a position loop by using the position reference zero.
Pn406
Emergency Stop Torque
Setting Range Setting Unit Factory Setting Setting Validation
0 to 800 % 800 Immediately
• This sets the stop torque for when the overtravel signal (P-OT, N-OT) is input.
• The setting unit is a percentage of the rated torque (the rated torque is 100%).
• The value large enough to be the motor maximum torque, 800% is set as the factory setting for emergency stop torque.
However, the actual output emergency stop torque is determined by motor ratings.
Speed
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