YASKAWA SGD7S series - Motor Stopping Method for Overtravel

5.12 Overtravel and Related Settings
5.12.3 Motor Stopping Method for Overtravel
5
Basic Functions That Require Setting before Operation
5-33
5.12.3 Motor Stopping Method for Overtravel
You can set the stopping method of the Servomotor when overtravel occurs in Pn001 =
n.XX (Motor Stopping Method for Servo OFF and Group 1 Alarms and Overtravel Stopping
Method).
* You cannot decelerate a Servomotor to a stop during torque control. For torque control, the Servomotor will be
stopped with the dynamic braking or coast to a stop (according to the setting of Pn001 = n.X (Motor Stop-
ping Method for Servo OFF and Group 1 Alarms)), and then the Servomotor will enter a coasting state.
Refer to the following section for information on stopping methods other than those for over-
travel.
5.14.1 Stopping Method for Servo OFF on page 5-42
Stopping the Servomotor by Setting Emergency Stop
Torq ue
To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop
Torque).
If Pn001 = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the
torque set in Pn406 as the maximum torque.
The default setting is 800%. This setting is large enough to allow you to operate the Servomo-
tor at the maximum torque. However, the maximum emergency stop torque that you can actu-
ally use is the maximum torque of the Servomotor.
* Set a percentage of the motor rated torque.
Stopping the Servomotor by Setting the Deceleration Time
To specify the Servomotor deceleration time and use it to stop the Servomotor, set Pn30A
(Deceleration Time for Servo OFF and Forced Stops).
If you set Pn30A to 0, the Servomotor will be stopped with a zero speed.
The deceleration time that you set in Pn30A is the time to decelerate the motor from the maxi-
mum motor speed.
Parameter
Motor Stopping
Method*
Status after
Stopping
When Enabled Classification
Pn001
n.
00
(default setting)
Dynamic brake
Coasting
After restart Setup
n.01
n.
02 Coasting
n.1 Deceleration
according to
setting of Pn406
Zero clamp
n.2 Coasting
n.3 Deceleration
according to
setting of Pn30A
Zero clamp
n.
4 Coasting
Pn406
Emergency Stop Torque
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 800 1%* 800 Immediately Setup
Pn30A
Deceleration Time for Servo OFF and Forced Stops
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000 1 ms 0 Immediately Setup
Speed
Position
Torque
Speed
Position