Panasonic MINAS A6 Series, Technical Reference

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Timing Chart
10-4
10.2 Driver module servo-ON/OFF action while the motor is at stall
(servo-lock)
The above figure shows the operation timing of the driver module when the servo on / off operation is
switched while the motor is stopped (during servo lock).
When the servo-on command is ON in the above figure, it indicates that the PDS status has been
changed to Operation enabled when operating with EtherCAT communication of the driver module.
Servo-on command OFF indicates that the PDS status has changed to other than Operation enabled
with the Disable operation command.
When assigning the brake release output in the above figure to the mechanical brake output (motor
connector X105 BRK+/BRK-
pin), set Pr4.59 “Mechanical brake signal setting”.
Refer to "2.4 I/O signal allocation function" when assigning the brake release output in the above figure
to a general-purpose output (servo control I / O connector X4 SO1 / SO2 pin).
*1 t1 depends on the setup value of Pr 4.37 (Mechanical brake action at stalling setup).
*2 The operation of dynamic brake during servo off depends on the setup value of Pr 5.06 (Sequence at Servo-Off).
*3 Servo-ON will not be activated until the motor speed falls below approx. 30 r/min.
*4 The brake release output (BRK-OFF) automatically changes in sync with the servo ON/OFF of each axis. It is different from set brake
output (set brake) operated from EtherCAT communication.