Panasonic MINAS A6N Series, Руководство по эксплуатации

Страница: 368 / 495

6-37 Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
1.When in Trouble
Slow Stop Function
・
S shape processing of slow stop operation
S shape process at the time of slow stop operation can be made by setting Pr5.57. Refer to
the following figure to set Pr5.57.
*）
Velocity control command at the time of starting slow stop operation shall be
calculated from the actual velocity.
・
Braking distance
*
When Pr 5.56 and Pr5.57 has been set, the braking distance under immediate stop
will increase by approximately the following formula. Please confirm its influence on the
actual machine operations, when using.
Time [ms]
Velocity[rpm]
Velocity control
command
0
Velocity control
command
After S-shape
processing
ts
ts
td
td[ms] ＝
(Velocity control command at time of starting deceleration
x Pr5.56 “Slow stop decelerated stop time setting)
1000
Start immediate
stop
(Slow Stop)
ts[ms]
＝
Pr5.57 “Slow stop S-shape acceleration/deceleration setting”
td
2
Use in the range where
＝
1) In case of linear deceleration (Pr5.57 =0)
Linear deceleration brake distance [revolution] Linear decelerating time [s]
＝
＝
60
×
2
×
1000
×
1000
2) For S-shape deceleration (Pr5.57 ≠ 0)
60 × 2 × 1000
＝
(Velocity control command at time of starting deceleration [r/min])
× Pr5.57 [ms]
(Velocity control command at time of starting deceleration [r/min]) × Pr5.56 [ms/(1000)[r/min]
1000 × 1000
Linear deceleration brake distance [revolution]
(Velocity control command at time of starting deceleration [r/min]) × Linear decelerating time [s]
60 × 2
(Velocity control command at time of starting deceleration [r/min])
2
× Pr5.56 [ms/(1000)[r/min]
S-shape deceleration braking distance [revolution]
Linear deceleration brake distance [revolution]
+
Note) The above formulae are braking distances for the velocity control command only and the
actual motor control delay has to be taken into account. Furthermore, in case the torque
command under deceleration is restricted by immediate stop torque stetting, the braking
distance will not be as per the formulae indicated above.