6.13 Forcing the Motor to Stop
6.13.2 Stopping Method Selection for Forced Stops
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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.
Pn406
(2406
hex)
Emergency Stop Torque
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 800
1%
*
800
Immediately Setup
Pn30A
(230A
hex)
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
Speed
Position
Pn30A
=
Maximum speed
Operating speed
Actual
deceleration time
Actual deceleration time
Operating speed
Maximum speed
× Deceleration time (Pn30A)
