Panasonic minas a4 series Instruction Manual page 125

PrNo. Title
6A Setup of
mechanical brake
action at stalling
6B Setup of
mechanical brake
action at running
6C Selection of
*
external
regenerative
resistor
[Connection and Setup of Position Control Mode]
Setup
Unit
range
0 to 100 2ms You can set up the time from when the brake release signal (BRK-OFF :
CN X5, Pin-10 and 11) turns off to when the motor is de-energized
<0>
(Servo-free), when the motor turns to Servo-OFF while the motor is at
stall.
• Set up to prevent a micro-travel/
drop of the motor (work) due to the
action delay time (tb) of the brake
• After setting up Pr6a
then compose the sequence so as
the driver turns to Servo-OFF after
the brake is actually activated.
Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at
Stall" of Preparation as well.
0 to 100 2ms You can set up time from when detecting the off of Servo-ON input signal
(SRV-ON : CN X5, Pin-29) is to when external brake release signal
<0>
(BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to
servo off during the motor in motion.
• Set up to prevent the brake
deterioration due to the motor
running.
• At Servo-OFF during the motor is
running, tb of the right fig. will be
a shorter one of either Pr6B
setup time, or time lapse till the
motor speed falls below 30r/min.
Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in
motion" of Preparation as well.
With this parameter, you can select either to use the built-in regenerative
0 to 3 –
resistor of the driver, or to separate this built-in regenerative resistor and
for
externally install the regenerative resistor (between RB1 and RB2 of
A, B-frame
Connector CN X2 in case of A to D-frame, between P and B2 of terminal
<3>
block in case of E, F-frame).
for
Setup value
C to F-frame
<0>
<0>
(C, D, E and
F-frame)
1
2
<3>
(A, B-frame)
<Remarks>
Install an external protection such as thermal fuse when you use the
external regenerative resistor.
Otherwise, the regenerative resistor might be heated up abnormally and
result in burnout, regardless of validation or invalidation of regenerative
over-load protection.
<Caution>
When you use the built-in regenerative resistor, never to set up other
value than 0. Don't touch the external regenerative resistor.
External regenerative resistor gets very hot, and might cause burning.
Function/Content
> = tb ,
SRV-ON
BRK-OFF
actual
brake
motor
energization
Regenerative resistor Regenerative processing and
to be used regenerative resistor overload
Regenerative processing circuit will be
activated and regenerative resistor overload
Built-in resistor
protection will be triggered according to the
built-in resistor (approx. 1% duty).
The driver trips due to regenerative overload
protection
External resistor
processing circuit is activated and its active
ratio exceeds 10%,
Regenerative processing circuit is activated,
but no regenerative over-load protection is
External resistor
triggered.
Both regenerative processing circuit and
regenerative protection are not activated, and
No resistor
built-in capacitor handles all regenerative
power.
Standard default : < >
SRV-ON
OFF
ON
BRK-OFF
hold
release
tb
actual brake
hold
release
motor
non-
energized
energized
energization
Pr6A
ON OFF
release hold
tb
energized
non-
energized
30 r/min
(Err18), when regenerative
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