Panasonic MINAS A6 Series, Technical Reference

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10.6Driver module when an alarm has been cleared
10-9
10.6 Driver module when an alarm has been cleared
The above figure shows the operation timing when an alarm clear command is executed when a
clearable alarm is generated in the driver module.
Since the servo-on command is canceled once when an alarm is generated, perform PSD transition
from EtherCAT communication at the timing of section "10.2 Driver module servo-ON/OFF action while
the motor is at stall (servo-lock)" when the servo is turned on again.
*1 The length of time for identifying alarm clear input is the length of time set for Pr5.15.
*2 When clearing an alarm from EtherCAT communication or PANATERM for Multi(USB communication, EoE communication), turn OFF
alarm clear input (A-CLR) once.