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6. PARAMETERS
6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid
The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor
when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off.
Stopping method used when forward rotation stroke end (LSP) or
reverse rotation stroke end (LSN) is valid
0: Sudden stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (Deceleration to a stop by deceleration time constant)
3: Sudden stop (Stop by remaining move distance clear)
Parameter No.PD20
Operation status
Setting
value of
parameter
No.PD20
When rotating at constant speed When decelerating to stop
Remarks
0
(Initial
value)
With S-pattern
acceleration/deceleration
Without S-pattern
acceleration/deceleration
LSP
or
LSN
Servo moto
r
s
peed
0r/min
ON
OFF
LSP
or
LSN
Servo moto
r
s
peed
0r/min
ON
OFF
With S-pattern
acceleration/deceleration
Without S-pattern
acceleration/deceleration
Clears droop pulses
and stops.
Erases the home
position.
A difference occurs
between the command
position and the current
position.
Execute a home
position return again.
1
Amount of
droop pulse
LSP
or
LSN
Servo moto
r
s
peed
0r/min
ON
OFF
With S-pattern
acceleration/deceleration
Without S-pattern
acceleration/deceleration
Amount of
droop pulse
With S-pattern
acceleration/deceleration
Without S-pattern
acceleration/deceleration
LSP
or
LSN
Servo moto
r
s
peed
0r/min
ON
OFF
Moves for the amount
of droop pulse and
stops.
Erases the home
position.
A difference occurs
between the command
position and the current
position.
Execute a home
position return again.
2
Decelerates to stop
Acceleration/
Deceleration
time constant
Acceleration/
Deceleration
time constant
S-pattern
acceleration/
deceleration
time constant
LSP
or
LSN
Servo moto
r
s
peed
0r/min
ON
OFF
With S-pattern
acceleration/deceleration
Without S-pattern
acceleration/deceleration
Continues
decelerating
to stop
LSP
or
LSN
Servo motor
speed
0r/min
ON
OFF
With S-pattern
acceleration/deceleration
Without S-pattern
acceleration/deceleration
Decelerates to stop at
the deceleration time
constant. Continues to
rotate for the amount of
S-pattern
acceleration/decelerati
on time constant delay.
Keeps the home
position.
3
Amount of droop
pulse
LSP
or
LSN
Servo moto
r
s
peed
0r/min
ON
OFF
S-pattern
acceleration/
deceleration
time constant
amount of
droop pulse
With S-pattern
acceleration/deceleration
Without S-pattern
acceleration/deceleration
LSP
or
LSN
Servo moto
r
s
peed
0r/min
ON
OFF
With S-pattern
acceleration/deceleration
Without S-pattern
acceleration/deceleration
Amount of
droop pulse
S-pattern
acceleration/
deceleration
time constant
amount of
droop pulse
Moves for the amount
of droop pulse and
stops. Continues to
rotate for the amount of
S-pattern
acceleration/decelerati
on time constant delay.
Keeps the home
position.