Stop

In order to meet the various working conditions of servo, servo drive supports different stop modes and stop
states.

Stop mode

Free stop: servo motor is not powered on, and the motor is free to reduce its speed to 0 by mechanical friction;

DB stop: stop the servo motor in motion state by the reverse braking torque provided by UVW 3-phase short-circuit;

Ramp stop: Smoothly stop according to pre-set position/speed/current ramp instructions;

Zero speed stop: servo drive outputs reverse braking torque, immediately set the target motor speed to zero and execute stop;

Emergency torque stop: servo drive outputs reverse braking torque and quickly reduces the motor speed to 0.

Stop state

Hold position state: after the motor stops, the motor shaft is locked and can't rotate freely;

Free motion state: after the motor stops, the motor is not powered on, and the motor shaft can rotate freely;

Hold DB state: after the motor stops, the motor is connected to the drive, UVW 3-phase short-circuit, and the motor shaft can slowly rotate by external force.

Stop condition

Servo drive supports the following stop conditions:

Stop modes of SV3 servo drives

Stop condition	Settings of related parameter		Stop action and status	Description
Type I Error stop	P04.10	0	Free stop, free movement	Stop conditions while type I failure occurs
		1	DB down, free movement
		2	DB stop, keep DB
Type II Error stop	P04.11	0	Free stop, free movement	Stop conditions while type II failure occurs
		1	Zero speed stop, free movement
		2	Zero speed stop. Keep DB
		3	DB down, free movement
		4	DB stop, keep DB
Disable stop mode	P04.12	0	Free stop	Stop condition when servo drive stops enabling
		1	DB stop
		2	Zero speed stop
Disable stop state	P04.13	0	Free movement
		1	Hold DB
Power-off stop	P04.14	0	Stop by disabled mode	Stop condition when servo drive is powered off
		1	Zero speed stop
Overrun stop	P04.15	0	Free stop, free movement	Stop condition when motor shaft position exceeds the pre-set one which can be the position limit value of the servo internal software or the position at external limit DI triggering time
		1	Zero speed stop, maintain the position
		2	Zero speed stop, free movement
Quick stop	605Ah	The stop method is different for each motion. For details, please refer to the object dictionary 605Ah		Stop when control word 6040h quick stop position is validCondition
Pause	605Dh	The stop method is different for each motion. For details, please refer to the object dictionary 605Dh		Stop condition when control word 6040h pause position is valid

0x605A - Quick stop option code

0x605A - Quick stop option code

Index - Subindex

0x605A-00

Data type

UINT16

Accessibility

Readable/writable

Unit

Default

Min.

Max.

Setting and effective mode

Operation settings/downtime effective

Related mode

ALL

Note

Quick stop, when Bit2 of control word 6040h is valid, Quick stop will be 6executed. Under the same set value, different stop modes have different stop methods as shown in the following table:PP：

Settings	Description
0	Free shutdown, maintain free run state
1	Ramp stop by 6084h, maintain free run state
2	Ramp stop by 6085h, maintain free run state
3	Emergency stop by P04.23 braking torque, maintain free run state
4	NA
5	Ramp stop by 6084h, maintain position latched state
6	Ramp stop by 6085h, maintain position latched state
7	Emergency stop by P04.23 braking torque, maintain position latched state

CSP：

Settings	Description
0	Free shutdown, maintain free run state
1	Emergency stop by P04.23 braking torque, maintain free run state
2
3
4	NA
5	Emergency stop by P04.23 braking torque, maintain position latched state
6
7

PV/CSV/HM

Settings	Description
0	Free shutdown, maintain free run state
1	Ramp stop by 6084h(HM: 609Ah), maintain free run state
2	Ramp stop by 6085h, maintain free run state
3	Emergency stop by P04.23 braking torque, maintain free run state
4	NA
5	Ramp stop by 6084h(HM: 609Ah), maintain position latched state
6	Ramp stop by 6085h, maintain position latched state
7	Emergency stop by P04.23 braking torque, maintain position latched state

CST/PT

Settings	Description
0	Free shutdown, maintain free run state
1	Ramp stop by 6087h, maintain free run state
2	Ramp stop by 6087h, maintain free run state
3	Free shutdown, maintain free run state
4	NA
5	Ramp stop by 6087h, maintain position latched state
6	Ramp stop by 6087h, maintain position latched state
7	Free stop, maintain position latched state

0x605D Halt option code

0x605D - Halt option code