Panasonic MINAS A6 Series, Technical Reference

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6.3Deceleration stop sequence
6-5

When an alarm requiring emergency stop occurs, normal operation (the normal torque limit is enabled)
continues until an emergency stop is started. Therefore, if the command is interrupted during this period, the
torque controlled with the normal torque limit may be output.
To stop operation with the emergency stop torque limit when an alarm requiring emergency stop occurs,
continue to send the normal position command for at least 4 ms from the alarm notification.
<Bad example>
Turning on Forced alarm input (E-STOP) and stopping command at the same time

Setting of Pr5.13 "Over-speed level setup" and Pr6.15 "2nd over-speed level"
The motor may not stop normally even if the emergency stop function is used.
For example, when the motor velocity exceeds Pr5.13 "Over-speed level setup" as shown in the figure below,
the motor velocity may increase if normal control cannot be accomplished even after the start of emergency
stop operation.
As a safety measure in case of this case, Err26.1 "2nd over-speed protection" is provided.
As Err26.1 is an alarm that does not require emergency stop, energization to the motor is shut off and the
motor is stopped according to sequence at alarm, operation B. Set an allowable over-speed level for Pr6.15
"2nd over-speed level setup".
In addition, set Pr5.13 to a small value with a sufficient margin for Pr6.15. If the margin is insufficient or the
set value is the same, both Err26.0 and Err26.1 may be detected. In this case, Err26.0 will be displayed.
However, because Err26.1 is also activated internally, priority is given to the alarm that does not require
emergency stop, and emergency stop is not executed.
Furthermore, if the Pr6.15 setting is smaller than the Pr5.13 setting, Err26.1 occurs prior to Err26.0.
Thus, emergency stop is not executed.