YASKAWA SIGMA-7 Series User Manual

4.1 Outline
4.1.1 Synchronized Stopping Timing Chart
4
Synchronized Stopping
4-3
4.1.1 Synchronized Stopping Timing Chart
The following timing chart shows when Synchronized Stopping mode 1 or 2 is selected.
* During synchronized stopping, only emergency commands will be received.
Refer to the following section for details on CSTP_S (Synchronized Stopping Status).
Details of I/O Signal Status Bits on page 4-8
In Synchronized Stopping mode 3, both axes are almost simultaneously set to the servo OFF
state immediately after an alarm occurs. Therefore, CSTP_S which represents the synchro-
nized stopping status will not change, but it will instead remaining as the during normal oper-
ation status.
Ending Synchronized Stopping
When any of the following states occur, CSTP_S (Synchronized Stopping Status) in the SVC-
MD_IO field will become “0: During normal operation”, and synchronized stopping will end
with the servo OFF state.
• When feedback speed is less than Pn666 (Synchronized Stopping End Speed) (normal
end)
• When the SV_OFF or DISCONNECT command was received
• When the synchronized stopping axis changes to the servo OFF state due to an alarm or
for other reasons
After synchronized stopping ends, commands can be received from the host controller.
Information
Speed
Time
Feedback speed
0
Pn666
(Synchronized Stopping
End Speed)
0
Alarm status
Speed
Feedback speed
Servo ON/OFF status
Time
OFFON
Normal status Alarm status
Normal status Warning status
Synchronized
stopping axis
A
ctive alarm axis
CSTP_S in
SVCMD_IO eld
A.97C
(Synchronized Stopping
Occurred)
During
synchronized
stopping*
During normal operation
Tracks the active
alarm axis and stops.
An alarm occurs.
Information

YASKAWA SIGMA-7 Series Specifications

General

Encoder Resolution	24-bit absolute encoder
Pollution Degree	2
Cooling Method	Natural cooling or forced air cooling
Control Method	Vector control
Communication Protocols	EtherCAT, MECHATROLINK-III
Input Voltage	AC 200 V, AC 400 V
Rated Output	Varies by model
Safety Function	STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SLS (Safely Limited Speed), SBC (Safe Brake Control)
Power Supply Voltage	AC 200 V, AC 400 V
Rated Output Current	Varies by model
Protection Functions	Overload, overvoltage, undervoltage, overheat, short circuit
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Vibration Resistance	5.9 m/s² at 10 Hz to 55 Hz
Ambient Humidity	5% to 95% RH (non-condensing)
Altitude	Up to 1000 m
Installation	Panel mounted