Panasonic MINAS A5 Series Operating Instructions Manual page 357

1. Safety function
Timing Chart
Return timing from safety state
Servo-ON input
(SEV-ON)
*1
Safety input 1
Safety input 2
Motor energization
EDM output
Dynamic brake
Servo-Ready output
(S-RDY)
Servo-Clear intput
(ALM)
*1
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
*1 Photocouplers for safety input 1 and 2 should be turned on again with servo-on input
turned off. Otherwise, alarm occurs, and should be cleared.
Alarm clear should be performed after the safety input 1 and 2 have been turned
back to on.
Otherwise, alarm occurs.
*2 This is an alarm condition and the dynamic brake operates according to Pr5.10 Se-
quence at alarm.
*3 This is normal servo-off condition and the dynamic brake operates according to
Pr5.06 Sequence at servo-off.
Note
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(Servo-OFF command)
input coupler OFF
max 6ms
output coupler ON
released/engaged
*2
generated alarm
output coupler OFF
(not ready)
input coupler OFF
output coupler OFF
(Alarm)
output coupler OFF (Break engage)
input coupler OFF
input coupler ON
not-energized
output coupler OFF
released/engaged
Servo-OFF
output coupler ON
(ready)
input coupler ON
output coupler ON
(not Alarm)
1
input coupler ON
2
(Servo-ON command)
Once the servo
3
on command is
input, the
operation
*3
proceeds in
synchronous
with normal
servo on/off
timing.
(Refer to P.2-61
4
"Timing Chart")
5
6
7
7-7