Panasonic MINAS A6 Series, Technical Reference

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10.3Driver module servo-ON/OFF action while the motor is in motion
10-5
10.3 Driver module servo-ON/OFF action while the motor is in
motion
The above figure shows the operation timing when the servo on / off operation is switched during motor
rotation (more than 30[r/min]) in the driver module.
Emergency stop or trip timing. It cannot be used repeatedly. During normal operation, stop the motor
and perform servo on / off operation.
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”.
When assigning the brake release output in the above figure to a general-purpose output (servo control
I / O connector X4 SO1 / SO2 pin), refer to "2.4 I/O signal allocation function".
*1 t1 will be a shorter time of either the setup value of Pr 4.38 (Mechanical brake action at running setup) or elapsing time for the motor
speed to fall below Pr 4.39 (Brake release speed setup).
*2 Even when the servo-ON command is turned on again while the motor is decelerating, transition to servo-ON is not performed until
the motor stops.
*3 For the action of dynamic brake at servo-OFF, refer to an explanation of Pr 5.06 (Sequence at Servo-Off) as well.
*4 Servo-ON will not be activated until the motor speed falls below approx. 30 r/min.
*5 For the motor energization during deceleration at Servo-OFF depends on the setup value of Pr 5.06 (Sequence at Servo-Off).
*6 A brake release output (BRK-OFF) is different from the set brake of 60FEh/68FEh via EtherCAT communication.
For information on the set brake output details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification
(SX-DSV03456)".
*7 The mechanical brake does not follow the brake release output (BRK-OFF) but operates at the timing when the mechanical brake
detects an error, when Err17.0 "Mechanical brake circuit overvoltage protection" or Err17.1 "Mechanical brake circuit overload
protection" occurs while a mechanical brake circuit with a built-in driver module is used.
For details about mechanical brake circuit, refer to "REFERENCE SPECIFICATIONS Driver module section (SX-DSV03454)".