Panasonic MINAS A6 Series, Technical Reference

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6.3Deceleration stop sequence
6-3
6.3.4 Sequence at alarm

Set the operation sequence at the alarm with the exception of the communication related alarm (Err80.*,
Err81.*, Err85.*, Err88.*).

Communication related alarms (Err80.*, Err81.*, Err85.*, Err88.*) information, set by 605Eh/685Eh (Fault
reaction option code).
Please refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)" for
details.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
5 10 B Sequence at alarm 0 to 7 - Specify the status during deceleration and after stop, after
occurrence of alarm.
Contents

Details of Pr 5.10 (Sequence at alarm)
Pr 5.10 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

Dynamic brake (DB) (Note 6) Clear
(Note 2)

Dynamic brake (DB) (Note 6) Clear
(Note 2)
1

Free run (DB OFF) Clear
(Note 2)

Dynamic brake (DB) (Note 6) Clear
(Note 2)
2

Dynamic brake (DB) (Note 6) Clear
(Note 2)

Free run (DB OFF) Clear
(Note 2)
3

Free run (DB OFF) Clear
(Note 2)

Free run (DB OFF) Clear
(Note 2)
4 Action A
(Note3)

Emergency stop (Note 3) (Note 5)

Torque limit =Pr 5.11
Clear
(Note 2)

Dynamic brake (DB) (Note 6)
Clear
(Note 2)
Action B
(Note3)

Dynamic brake (DB) (Note 6) Clear
(Note 2)
5 Action A
(Note3)

Emergency stop (Note 3) (Note 5)

Torque limit =Pr 5.11
Clear
(Note 2)

Dynamic brake (DB) (Note 6) Clear
(Note 2)
Action B
(Note3)

Free run (DB OFF)
Clear
(Note 2)
6 Action A
(Note3)

Emergency stop (Note 3) (Note 5)

Torque limit =Pr 5.11
Clear
(Note 2)

Free run (DB OFF) Clear
(Note 2)
Action B
(Note3)

Dynamic brake (DB) (Note 6) Clear
(Note 2)
7 Action A
(Note3)

Emergency stop (Note 3) (Note 5)

Torque limit =Pr 5.11
Clear
(Note 2)

Free run (DB OFF)
Clear
(Note 2)
Action B
(Note3)

Free run (DB OFF) Clear
(Note 2)
(Note 1) During deceleration sequence or at the stop (during alarm or servo 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, first re-set the command coordinate of the host controller. The
motor may operate sharply..
(To be continued)