Panasonic MINAS A6 Series, Technical Reference

Page: 156 / 306

Application Functions
6-6
Contents

Detail of deceleration stop on servo (MINAS A6) side (Pr5.04 = 0)
Pr 5.04
(Note 4) Pr 5.05 During deceleration (Note 5) After stalling (Approx. 30 r/min or below)
Stopping method Deviation Operation after stopping Deviation
0 Common

Forcibly controls the position. (Note 1)

Forcibly stops position command
generation. (Note 1)

bit 11(Internal limit active) of
6041h/6841h (Statusword) is ON.
-

Control mode depends on the
command. (Note 2)

bit 11(Internal limit active) of
6041h/6841h (Statusword) is ON.
-
0

Dynamic brake (DB) (Note 6) Clear
(Note 3)

Torque command=0
towards inhibited direction
Hold
1

Free run (DB OFF) Clear
(Note 3)

Torque command=0
towards inhibited direction
Hold
2

Emergency stop (Note 4) (Note 7)

Torque limit=Pr 5.11
Clear
(Note 3)

Torque limit and torque command are
as usual.
Hold
(Note 1) During deceleration, the system is forced to perform position control, forcibly stopping the internal position command generating
process.
(Note 2) Stop a command in over-travel inhibit direction with the over-travel inhibit input set to ON. If a command is issued in over-travel
inhibit direction, the command is neglected.
(Note 3) During deviation clearing, the process that lets the internal command position to follow the feedback position is activated. At the
instantaneous stopping and at the end of deceleration, position deviations/external scale deviations accumulated during
deceleration are cleared.
(Note 4) Emergency stop refers to a controlled immediate stop with servo-on. The torque command value is limited during this process by
Pr 5.11 Emergency stop torque setup. In an emergency stop, normal operation is performed during the time between the input of
the signal and the start of the emergency stop. If a command is stopped concurrently with the input of the signal, a torque
disallowed by normal torque limitation may be output. To allow a stop with the torque specified in the Emergency stop torque
setup, continue to send the normal command at least 4 ms after the input of the signal.
(Note 5) Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the motor speed drops below 30
r/min, it is treated as in stop state regardless of its speed.
(Note 6) Stopping method is Free run (DB OFF) in dynamic brake non-compatible models.
(Note 7) Pr6.14 "Emergency stop time at alarm" setting is invalid.

Detail of deceleration stop on CoE (CiA402) side (Pr5.04 = 1)
Pr 5.04 Control
mode
(Note 3)
During deceleration (Note 2) After stalling (Approx. 30 r/min or below)
Stopping method Operation after stopping
1 Common

Hold a servo-on condition.

Bit 11(Internal limit active) of 6041h/6841h
(Statusword) is ON.

Hold a servo-on condition.

Bit 11(Internal limit active) of 6041h/6841h
(Statusword) is ON.
pp, pv, ip,
csp, csv Deceleration stop in 6085h/6885h (quick stop
deceleration).

No command acceptance towards inhibited direction
(Note 1)
tq,cst Deceleration stop in 6087h/6887h (Torque slope).
(Note 1) When the drive inhibit input of the ON state can stop a command to towards inhibited direction. If you give a command in the
towards inhibited direction, the command will be ignored.
(Note 2) Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the motor speed drops below 30
r/min, it is treated as in stop state regardless of its speed.
(Note 3) During deviation clearing, the process that lets the internal command position to follow the feedback position is activated. At the
instantaneous stopping and at the end of deceleration, position deviations/external scale deviations accumulated during
deceleration are cleared.

In case of deceleration stop on servo (MINAS A6) side (sequence at time of alarm) (Pr5.04 = 2)
Err38.0 "Over-travel inhibit input protection" occurs when POT or NOT is turned ON.
Therefore, the system operates according to Sequence at alarm, but not to this setting.