Panasonic MINAS A6 Series, Technical Reference

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6.3Deceleration stop sequence
6-7
6.3.6.2 Fall prevention function in the event of servo-ON
By using object 60B2h / 68B2h (Torque offset), the offset value is input to the torque filter when the
servo is turned off, eliminating the delay in rising the torque command at the servo-on command input
timing and preventing the device from falling.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
7 24 C Function
expansion setup -32768 to
32767 -
bit7: Internal value state selection of objects 60B2h/68B2h
(Torque offset) in servo-off(Fall prevention function in the
event of Servo-ON)
0:Clear
1:Updated with the set value of 60B2h/68B2h
When this setting value is set to 1, set the value of 60B2h/68B2h
(Torque offset) to a value smaller than the value of Pr5.11 “Torque
offset at immediate stop”
Related object
Index
Sub
Index
Name Description Units Range
Data
Type
Access PDO
Op-
mode
EEPROM
2107h
-72h
/2507h
-72h
00h Torque offset
filter

Set the time constant of primary
delay filter for Torque offset filter
(60B2h/68B2h)
0.01 ms 0 to
6400
I16 rw NO ALL YES
60B2h/
68B2h
00h Torque offset

Set the offset of the torque
command (torque feedforward).

During slowdown in over-travel
inhibition (in emergency stop),
the torque feedforward level
becomes 0.
0.1% -32768
to
32767 I16 rw RxPDO ALL Yes