5 Operation5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence5-145.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm OccurrenceThe servomotor stopping method can be selected after the /S-ON (Servo ON) signal turns OFF or an alarmoccurs.(1) Stopping Method for Servomotor after /S-ON Signal is Turned OFFThe servomotor coasts to a stop when the servo is turned OFF.(2) Stopping Method for Servomotor When an Alarm OccursThere are two types of alarms, Gr.1 and Gr.2, that vary in the stopping method when the alarm occurs.When a Gr.1 alarm occurs, the servomotor coasts to a stop.When a Gr.2 alarm occurs, the stopping method that is set in Pn00B.1 is used.Refer to the information on alarm stopping methods in 9.1.1 List of Alarms. Stopping Method for Servomotor for Gr.2 Alarms∗ Zero-speed stopping: The speed reference is set to 0 to stop quickly.Note: The setting of Pn00B.1 is effective for position control and speed control. The setting of Pn00B.1 is ignored fortorque control and the servomotor coasts to a stop.• The elements in the SERVOPACK will deteriorate if turning the power supply ON andOFF or starting and stopping the servomotor during the servo ON status while there isa reference input. Use a speed reference or position reference to start and stop theservomotor.• If turning OFF the main circuit power supply or the control power supply during opera-tion without turning OFF the servo, the servomotor will coast to a stop. In this case,the stop method cannot be set in a parameter.• To minimize the coasting distance of the servomotor to come to a stop when an alarmoccurs, the zero-speed stopping method is factory-set for alarms to which the zero-speed stopping method is applicable. However, in some applications, coasting to astop may be more suitable than the zero-speed stopping method.For example, for multiple shafts in coupled operation (e.g., a twin-drive operation),machinery may damage due to differences in the stopping operation if a zero-speedstop alarm occurs for one of the coupled shafts and the other coupled shaft coasts toa stop. In such cases, change the stopping method so that the servomotor coasts to astop.Parameter Stop Mode Mode AfterStoppingWhenEnabledClassifica-tionPn00Bn.0[Factory setting]Zero-speed stop-ping* Coast Afterrestart Setupn.1 Coast
