Slow Stop Function - 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 begin to
work.
Scope of application
This function cannot be applied unless the following conditions are satisfied.
Control mode
Related parameters
Class No. Parameter name
Pr5.56
Pr5.57
Pr6.10
Pr6.14
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6-24
1. Troubleshooting

Slow stop function

Position control (Pr0.01=0)
• Servo-ON state
• Elements other than control parameters, such as torque limit,
Others
etc. have been appropriately set, without any problems in normal
operations.
• Block operation is set to "invalid."
Set range
Slow stop
deceleration
0 to 10000
time setting
Slow stop
S-shape
acceleration
0 to 1000
and deceleration
setting
Function
enhancement
settings
Immediate stop
time under 0 to 1000
alarm
Condition for activation of slow stop function
Units
Sets the deceleration time under slow stop.
ms/ This function will become effective when
（1000r/min）
Pr6.10 "Function enhancement setting" bit 15
is set to 1.
Sets the S-shape time for deceleration under
slow stop.
ms This function will become effective when
Pr6.10 "Function enhancement setting" bit 15
is set to 1.
bit 10: Fall prevention function, position
deviation processing under alarm
0 :Invalid (maintain), 1: Valid (clear)
Normally set to 1 to activate fall prevention
-32768
function
to ー
bit 15: Slow stop function
32767
0 :Invalid, 1: Valid
*Only valid in case position control is set
(Pr0.01 = 0) and block operation is invalid
(Pr6.28 = 0)
Sets the allowable time for stopping when
alarm is triggered for immediate stop.
Exceeding this set value will trigger a
forced alarm condition. In case the set
value is 0 (zero), no immediate stop will
be made, but an alarm condition will
immediately occur.
ms
In case the slow stop function is to be
used, set it to a length sufficiently longer
than the maximum deceleration time, as
the motor velocity will have a delay from
the deceleration and stop command.
* Please refer to (3) of this item for
maximum deceleration time.
Functions