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4. Servo Adjustment
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4-5 Settings for emergency stop
Emergency stop in this section refers to the following states.
[1] Emergency stop was input (including other axis alarms)
[2] NC power down was detected
[3] A servo alarm was detected
4-5-1 Deceleration control
With the MDS-C1-V1/V2 servo drive unit, if the deceleration stop function is validated, the motor will
decelerate following the set time constant while maintaining the READY ON state. READY will turn
OFF and the dynamic brakes will function after stopping.
If an alarm, for which dynamic brakes are designated as the stopping method, occurs, the motor will
stop with the dynamic brakes.
<Features>
When the load inertia is large, deceleration stop can be executed at a shorter time than the
dynamic brakes.
(The stop time for the normal acceleration/deceleration time constants will be achieved.)
(1) Setting the deceleration control time constant
Set the time for stopping from the rapid traverse rate (rapid: axis specification parameter) in the
deceleration time constant for emergency stop (SV056: EMGt). The operation stops with the
position loop step when 0 is set.
If linear acceleration/deceleration is selected for rapid traverse, the same value as the
acceleration/deceleration time constant (G0tL) will be the standard value. If another
acceleration/deceleration pattern is selected, set rapid traverse to linear acceleration/deceleration
and adjust to a suitable acceleration/deceleration time constant. Use that value as the standard
value.
<Operation>
When an emergency stop occurs, the motor will decelerate at the same inclination from each
speed.
Deceleration control sequence
Forced READY OFF range
RAPID
SV056
Constant inclination
decele
r
ation
Motor speed
Time
Motor brake control output (CN20)
OFF
ON
Servo READY (READY)
ON
OFF
In-position (INP)
ON
OFF
READY OFF after in-position
SV055
Emergency stop (EMG)
ON
OFF