Panasonic MINAS A6N Series, Operating Instructions Manual

Page: 367 / 495

6-36 Rev.2.00
1.When in Trouble
Slow Stop Function
Contents
•
Slow stop operation
The figure below indicates the case of slow stop operation under alarm.
1000
3000
Velocity [r/min]
Release Activate
Powered Not powered
Actual motor velocity
Pr6.14 Immediate stop time under alarm *3)
Standard Pr5.11 Immediate stop torque setting Standard
Max. deceleration time *1)
0
Torque limit *4)
Motor power *4)
External brake release *4)
Pr5.56 “Slow stop deceleration time setting”
Time [ms]
30
Slow stop action start condition detection *2
Pr6.51 Immediate stop completion wait time
Pr4.38 Mechanical brake action set under operation
＝
+ Pr5.57[ms]
*2) To be the detection of following conditions:
• Drive prohibited input with slow stop function valid setting.
• Servo-OFF with slow stop function valid setting.
• Main power OFF with slow stop function valid setting.
• Immediate stop response alarm triggered with slow stop function valid setting.
For immediate stop response alarm, refer to P.6-4.
*3) Please set Pr6.14 “Immediate stop time under alarm” to a value that is sufficiently long in length
than the completion of slow stop operation. The stop judgment under slow stop operation is
based on actual velocity. Therefore, the time required for the actual deceleration may take longer
than the maximum deceleration time.
In the immediate stop operation from immediate stop response alarm, in case the immediate stop
continuation duration exceeds Pr6.14 “Immediate stop time under alarm”, an alarm state will be
triggered regardless of the actual motor velocity.
Furthermore, immediate alarm condition will be triggered in case immediate stop non-response
alarm is generated inside the driver during immediate stop.Also,
Pr6.14 ”Emergency stop time at alarm” is valid only for Sequence at alarm.
Pr6.14 ”Emergency stop time at alarm” is invalid for Sequence upon inputting of over-travel
inhibition,Sequence at Servo-Off and Sequence at main power OFF
.
*4) There will be a maximum variance of about 5 [ms] in the switching timing.
Note) Please maintain the main circuit power supply during the time of decelerated stop.
*1) The maximum deceleration time is approximately the value obtained by the following formula:
Maximum deceleration time [ms]
Maximum velocity under normal operation pattern [r/min]) x Pr5.56 [ms/(1000 r/min)]
1000