Panasonic MINAS A6 Series, Technical Reference

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6.3Deceleration stop sequence
6-7
6.3.2 Sequence at servo-off

Operation sequence of the servo-off state is set by 605Ah/685Ah (Quick stop option code), 605Bh/685Bh
(Shutdown option code) and 605Ch/685Ch (Disable operation option code).

Deceleration function on the servo (MINAS A6) side is activated when these objects is zero.
Deceleration function on the CoE (CiA402) side is activated when these objects is non-zero.

This section explains deceleration function on the servo (MINAS A6) side.
Please refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)" for
details of deceleration function on the CoE (CiA402) side.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
5 06 B Sequence at
Servo-Off
0 to 9 - Specify the status during deceleration and after stop, after
servo-off.
5 11 B Torque setup for
emergency stop 0 to 500 % Set up the torque limit at emergency stop.
When setup value is 0, the torque limit for normal operation is
applied.
Contents

Details of Pr 5.06 (Sequence at Servo-Off)
Pr 5.06 During deceleration (Note 4) After stalling (Approx. 30 r/min or below)
Stopping method Deviation Operation after stopping Deviation
Common

Forcibly controls the position. (Note 1)

Forcibly stops position command generation.
(Note 1)
-

Forcibly controls the position. (Note 1)

Forcibly stops position command
generation. (Note 1)
-
0, 4

Dynamic brake (DB) (Note 6)
Clear
(Note 2)

Dynamic brake (DB) (Note 6)
Clear
(Note 2)
1, 5

Free run (DB OFF) Clear
(Note 2)

Dynamic brake (DB) (Note 6) Clear
(Note 2)
2, 6

Dynamic brake (DB) (Note 6) Clear
(Note 2)

Free run (DB OFF) Clear
(Note 2)
3, 7

Free run (DB OFF)
Clear
(Note 2)

Free run (DB OFF)
Clear
(Note 2)
8

Emergency stop (Note 3) (Note 5) (Note 7)

Torque limit =Pr 5.11
Clear
(Note 2)

Dynamic brake (DB) (Note 6) Clear
(Note 2)
9

Emergency stop (Note 3) (Note 5) (Note 7)

Torque limit =Pr 5.11
Clear
(Note 2)

Free run (DB OFF) Clear
(Note 2)
(Note 1) During deceleration sequence or at the stop (servo OFF), the system has to control the position and to stop the generation of
internal position command.
(Note 2) During deviation clearing process, the system causes the internal command position to follow up the feedback position. When
executing the interpolation feed system command after servo ON, re-set the command coordinate of the host controller. The
motor may operate sharply.
(Note 3) 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, since normal operation is performed during the time between the
servo OFF command and the start of the emergency stop, 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 servo OFF command.
(Note 4) 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 5) After emergency stop start, please continue to send Servo off command (PDS command "Disable operation", "Shutdown",
"Disable voltage", "Quick Stop") until the motor is stopped.
(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.