Fall Prevention Function In The Event Of Alarms - Panasonic MINAS A6 Series Operating Instructions Manual

6
When in Trouble
Outline
When the alarm that must respond to an immediate stop comes on, drop in the
vertical axis, etc. is prevented by keeping the motor energized for the time from when the
brake release output (BRK-OFF) is turned OFF to when the external brakes actually be
gin to work.
Related parameters
Class No.
5 10
6 10
6 51
Content
• Drop prevention function action when alarm that must respond to an imme-
diate stop
(at 30 r/min or lower)
Motor speed
Normal
With/without alarm
Servo alarm output
ON (normal)
(ALM)
Brake release output
ON (release)
(BRK-OFF)
Motor current
D i
Note In the event that the drop prevention function is enabled when alarm is generated, set Pr5.10
"Sequence at alarm" to 4, Pr6.10 "Function expansion setting" bit 10 to "1," and a value
longer than the time when brake release output (BRK-OFF) is turned OFF and external brake
actually operates to Pr6.51 "Immediate stop end wait time."
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1. Troubleshooting

Fall prevention function in the event of alarms

Title
To set the state during deceleration and after stopping when
Sequence at alarm alarm is generated.
Setting to 4 through 7 enables an immediate stop.
To set the bit concerning drop prevention function.
bit10: Drop prevention function at the time of alarm Position
deviation processing
Function expansion
0: Invalid (retention) 1: Valid (clear)
setting
When the drop prevention function is made enabled, usually
set to 1.
Note: The lest significant bit is designated as bit0.
When alarm that must respond to an immediate stop is
Immediate stop generated, after turning OFF the brake release output (BRK-
completion wait time OFF), set the time to maintain the motor energization. In the
case of zero setting, the drop prevention function is disabled.
Motor stops
(30 r/min or lower)
Immediate stop supported alarm
0.5 to 5 ms
OFF (abnormal)
Application of external brake
OFF (operation)
Pr6.51 is set
ON
Function
Motor runs
(at 30 r/min or higher)
30 r/min
Normal
0.5 to 5 ms
ON (normal)
ON (release)
Pr6.51 is set
OFF
ON
Deceleration start
30 r/min or lower
Immediate stop supported alarm
OFF (abnormal)
Application of external brake
OFF (operation)
OFF
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