1.2 Forcing the Motor to Stop
1.2.3 Stopping Method Selection for Forced Stops
1-14
1.2.3
Stopping Method Selection for Forced Stops
Use Pn00A = n.
X
(Stopping Method for Forced Stops) to set the stopping method for
forced stops.
Note: 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 (Servo
OFF or Alarm Group 1 Stopping Method).
Stopping the Servomotor by Setting Emergency Stop
Torque (Pn406)
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
for Servo OFF and Forced Stops (Pn30A)
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
Description
When
Enabled
Classifi-
cation
Pn00A
n.
0
Apply the dynamic brake or coast the motor to a stop
(use the stopping method set in Pn001 = n.
X).
After
restart
Setup
n.
1
Decelerate the motor to a stop using the torque set in
Pn406 as the maximum torque. Use the setting of Pn001
= n.
X for the status after stopping.
n.
2
Decelerate the motor to a stop using the torque set in
Pn406 as the maximum torque and then let the motor
coast.
n.
3
Decelerate the motor to a stop using the deceleration
time set in Pn30A. Use the setting of Pn001 = n.
X
for the status after stopping.
n.
4
Decelerate the motor to a stop using the deceleration
time set in Pn30A and then let the motor coast.
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
Summary of Contents for SERVOPACK Sigma 7S Series
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