YASKAWA CACP-JU series, User Manual

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8 Operation
8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence
8-18
(1) Stopping Method for Servomotor after SV_OFF Command is Received
Use Pn001.0 to select the stopping method for the servomotor after the SV_OFF command is received.
The factory setting of Pn001.0 depends on the model. For details, refer to 12.1 SERVOPACK Parameters . If a
spindle motor is used, a coasting to a stop is performed for the motor stopping method when the servo is
turned OFF, regardless of the setting of Pn001.0.
Note: Similar to the Coast Mode, the setting (Pn001.0 = 1) (which stops the servomotor by dynamic braking and then
holds it in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates
at very low speed.
(2) Stopping Method for Servomotor When an Alarm Occurs
There are two types of alarms: Gr.1 and Gr.2.
Gr.1: The alarm stopping method depends on the setting of Pn01E.0.
If Pn01E.0 = 0 and a SERVOPACK with a capacity of 5 kW max. is used: The stopping method set in
Pn001.0 is used. Stopping is performed with dynamic braking (DB) in the factory setting.
If Pn01E.0 = 0 and a SERVOPACK with a capacity that exceeds 5 kW max. is used: A coasting to a stop
is performed.
If Pn01E.0 = 1 to 8: A coasting to a stop is performed.
Gr.2: The motor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set to
stop the motor by setting the speed reference to
“
0.
”
The motor under torque control will always use the
Gr.1 method to stop. By setting Pn00B.1 to 1, the motor stops using the same method as Gr.1. When
coordinating a number of motors, use this alarm stop method to prevent machine damage that may result
due to differences in the stop method.
Refer to 11.2.1 List of Servo Drive Alarms to determine if the alarm that occurred is Gr.1 or Gr.2.
„
Stopping Method for Servomotor for Gr.1 Alarms
The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1) Stopping Method
for Servomotor after SV_OFF Command is Received .
∗
If a spindle motor is used, a coasting to a stop is performed.
„ Stopping Method for Servomotor for Gr.2 Alarms
∗ 1.
Zero-speed stopping: The speed reference is set to 0 to stop quickly.
∗ 2.
If a spindle motor is used, a coasting to a stop is performed.
Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for torque control
and only the setting of Pn001.0 will be valid.
Parameter (Index Number) Stop Mode Mode After Stopping When Enabled Classification
Pn001
(2001h)
n. ††† 0
DB
DB
After restart Setup n. ††† 1 Coast
n. ††† 2 Coast Coast
Parameter (Index Number) Stop Mode
Mode After
Stopping
When Enabled Classification
Pn001
(2001h)
n. ††† 0
DB
*
DB
*
After restart Setup
n. ††† 1 Coast
n. ††† 2 Coast Coast
Parameter (Index Number)
Stop Mode
Mode After
Stopping
When Enabled Classification
Pn00B
(200Bh)
Pn001
(2001h)
n. †† 0 †
[Factory setting]
n. ††† 0
Zero-speed stopping
*1
DB
*2
After restart Setup
n. ††† 1
Coast
n. ††† 2
n. †† 1 †
n. ††† 0
DB
*2
DB
*2
n. ††† 1
Coast
n. ††† 2 Coast