How to Achieve Slow Stopping When the A6 Servo Enable is Deactivated?

For servo motors, the enable functions like a switch controlling motion. Any movement commands the drive receives from the external controller must pass through this enable switch before the motor executes them. Conversely, for a motor that is already running, deactivating the enable will bring the motor to a stop.

So, what if the motor is running with a heavy load? If the enable is suddenly deactivated, causing an emergency stop, is there a risk of collision due to inertia? This necessitates setting the motor to stop slowly when the enable is deactivated.

Let's look at parameter C05.00:

Here, "Enable Inactive" refers to stopping by deactivating the enable. The default setting is 0, which results in a Free Run Stop. The motor stops according to the load's inertia.

To achieve a slow stop, simply set this parameter to 1 (Ramp Stop) . The stopping time follows a ramp-shaped deceleration curve. This is the most commonly used setting for this purpose.

Option 2 (Zero Speed Stop) results in a stop faster than the free run stop. The moment the enable is deactivated, the motor speed is forced to zero, causing an immediate halt.

As illustrated, after setting C05.00=1, you also need to set the value of C05.0A. This parameter defines the stopping time duration. Typically, setting it between 1000-2000ms is sufficient; the motor will decelerate smoothly to zero within this time.

ote: When modifying these parameters, C05.00 can only be changed successfully when the enable is deactivated. C05.0A can be modified freely, regardless of the enable status. After making changes, please verify that the parameter values have taken effect.

Updated on: 28/02/2026