Panasonic minas a4 series Instruction Manual page 189

PrNo. Title
69 Sequence at
Servo-Off
6A Setup of
mechanical brake
action at stalling
6B Setup of
mechanical brake
action at running
[Connection and Setup of Torque Control Mode]
Setup
Unit
range
0 to 9 – You can set up,
1) the action during deceleration and after stalling
<0>
2) the clearing of deviation counter content,
after turning to Servo-OFF (SRV-ON signal : CN X5, Pin-29 is turned from
ON to OFF)
The relation between the setup value of Pr69 and the action/deviation
counter clearance is same as that of Pr67 (Sequence at Main Power Off)
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 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.
Function/Content
SRV-ON
BRK-OFF
release
> = tb ,
actual brake
release
motor
energized
energization
SRV-ON
BRK-OFF
actual
energized
brake
motor
energization
Standard default : < >
OFF
ON
hold
tb
hold
non-
energized
Pr6A
ON OFF
release hold
tb
non-
energized
30 r/min
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