Panasonic MINAS A6 Series, Technical Reference

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Application Functions
6-2
Contents

Details of Pr 5.07 (Sequence at main power OFF)
Pr 5.07
During deceleration (Note 4) After stalling (Approx. 30 r/min or below)
Stopping method Deviation
Operation after stopping
Deviation
Pr6.36 = 0 Pr6.36 = 1
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 5) Clear
(Note 2)

Dynamic brake
(DB) (Note 5)
Operation of dynamic
brake is subjected to
the state of dynamic
brake switching input
(DB-SEL).
(Note 6) Clear
(Note 2)
1, 5

Free run (DB OFF) Clear
(Note 2)

Dynamic brake
(DB) (Note 5)
Clear
(Note 2)
2, 6

Dynamic brake (DB) (Note 5) 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 7)

Torque limit =Pr 5.11
Clear
(Note 2)

Dynamic brake
(DB) (Note 5)
Clear
(Note 2)
9

Emergency stop (Note 3) (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 (main power OFF), the system must control the position and 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. If a command is stopped concurrently with a power OFF detection, 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 power OFF detection.
(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 30r/min, it is treated as in stop state regardless of its speed.
(Note 5) Stopping method is Free run (DB OFF) in dynamic brake non-compatible models.
(Note 6) Dynamic brake operation input will be possible when Pr6.36 "Dynamic brake operation input setup" is effective d when main
power supply is OFF. In the output signal assignment of Pr4.02 "SI3 input selection," when connected to COM- by a connection
setting, dynamic brake installed inside the driver module will be released, and when COM- is opened, the dynamic brake
installed inside the driver module will activate.
This input will become invalid for Servo-ON, during trips, safety state or when the main power supply is switched ON and will
follow the normal sequence setting.
(Note 7) Pr6.14 "Emergency stop time at alarm" setting is invalid.