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3 BASIC FUNCTION
3.12 Vertical axis freefall prevention function
3.12
Vertical axis freefall prevention function
When the servo motor is used to operate a vertical axis, the servo motor electromagnetic brake and the base circuit shut-off
delay time function can be used to prevent the vertical axis from dropping at forced stop; however, the axis may fall by several
μ
m due to mechanical clearance of the servo motor electromagnetic brake. The vertical axis freefall prevention function is a
function that is used to prevent fall-based damage to the machine by pulling up the shaft slightly when such a risk exists.
• Once each of the servo parameters is set, this function operates when the servo motor speed is at or below
the zero speed, the EM2 (forced stop 2) is off, an alarm occurs, or the network communication shuts off.
• This function does not operate on alarms that are not subject to the forced stop deceleration function.
• This function can be used in the position mode and homing mode.
Precautions
• Refer to the setting method shown in this section, and check if each servo parameter is set. If not set, this function does not
operate.
• Check that the forced stop deceleration function is enabled. If disabled, this function does not operate.
Setting method
Set the freefall prevention compensation amount with [Pr. PC31 Vertical axis freefall prevention compensation amount].
After that, turn off the EM2 (Forced stop 2) during a servo motor stop, and then adjust the base circuit shut-off delay time in
[Pr. PC02 Electromagnetic brake sequence output] in accordance with the travel distance ([Pr. PC31 Vertical axis freefall
prevention compensation amount]). Adjust the time considering the freefall prevention compensation amount by checking the
servo motor speed, torque ripple, and other areas.
Timing chart
Servo parameter
Symbol
Name
Outline
PC02
MBR
Electromagnetic brake sequence
output
Set the base circuit shut-off delay time.
Initial value: 0 [ms]
PC31
RSUP1
Vertical axis freefall prevention
compensation amount
Set the freefall prevention compensation amount.
Initial value: 0 [0.0001 rev], [0.01 mm]
ON
OFF
ON
OFF
ON
OFF
EM2
([Pr. PC02])
[Pr. PC31]
(Forced stop 2)
(Enabled)
Travel distance
Position
Set the base circuit shut-off delay time.
Base circuit
(Energy supply to
the servo motor)
(Enabled)
Actual operation of
electromagnetic
brake
Disabled
Enabled
(Electromagnetic
brake interlock)
MBR
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