Panasonic MINAS A6 Series, Technical Reference

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Application Functions
6-8
6.3.7 Slow stop function
When a drive prohibition input, servo-off, main power-off, or immediate-stop alarm is detected with
immediate stop settings, the motor can be smoothly stopped by applying control while the servo is on.
Applicable range
This function cannot be applied unless the following conditions are satisfied.
Condition for activation of slow stop function:
Control Mode

Position control, Velocity control, Torque control (Note 1) (Note 2)
Others

Servo-ON state

Elements other than control parameters, such as torque limit, etc. have been appropriately set, without any problems
in normal operations.
(Note 1) During emergency stop, the control mode is forcibly set to position control.
(Note 2) Under full-closed control, the Slow Stop function is not supported. Disable the Slow Stop function for full-closed control.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
5 05 C Sequence at
over-travel inhibit 0 to 2 - When Pr5.04 Over-travel inhibition = 0, specify the status during
deceleration and stop after application of the over-travel inhibition
(POT, NOT).
When the Slow Stop function is enabled, set up emergency stop.
5 06 B Sequence at
Servo-Off 0 to 9 - Specify the status during deceleration and after stop, after
servo-off.
When the Slow Stop function is enabled, set up emergency stop.
5 07 B Sequence upon
main power off 0 to 9 - Specify the status during deceleration after main power interrupt or
after stoppage.
When the Slow Stop function is enabled, set up emergency stop.
5 10 B Sequence at alarm 0 to 7 - Specify the status during deceleration and after stop, after
occurrence of alarm.
When the Slow Stop function is enabled, set up emergency stop
5 56 B Slow stop
deceleration time
setting 0 to
10000 ms /
(1000
r/min) Sets the deceleration time under slow stop.
This function will become effective when Pr6.10 "Function
expansion setup" bit 15 is set to 1..
5 57 B Slow stop S-shape
acceleration and
deceleration
setting 0 to 1000 ms Sets the S-shape time for deceleration under slow stop.
This function will become effective when Pr6.10 “Function
expansion setu
p” bit 15 is set to 1.
6 10 B Function
expansion setup -32768 to
32767 -
bit10: Fall prevention function in case of alarms
0: Invalid
1: Valid
* To enable the slow stop function, set to 1.
bit15: Slow stop function
0: Invalid
1: Valid
* Set this to 0 for full-closed control.
(To be continued)