Setting Of Sequence Movements; Drive Prohibition Input (Pot , Not ) Sequence - Panasonic Minas-LIQI Series Technical Reference

6－4 Setting of Sequence Movements
A series of actions can be defined for various operation states.
6－4－1 Drive prohibition input (POT , NOT ) sequence
The following shows how to prescribe actions taken after an overtravel limit (POT or NOT) is entered.
(1) Related parameters
Parameter
No.
Category
Over-travel inhibit
5 04
input setup
Sequence at over-travel
5 05
inhibit
Torque setup for
5 11
emergency stop
(2) Item
• Details of Pr5.05 "Sequence at over-travel inhibit"
Pr5.04 Pr5.05
0
0
1
2
*1 the position command = 0 is srv-lock
*2 If commands keep coming for the overtravel direction with the overtravel limit on, the position deviations may
accumulate to result in Err24.0 "Position deviation excess protection". In case an overtravel limit is turned on, stop
commands for the overtravel direction.
*3 Position deviations/external scale deviations are cleared twice at the start and end of the deceleration; therefore, it is necessary
to execute an homing operation to return to origin if the position is being controlled.
*4 f a setting value for Pr5.04 "Over-travel inhibit input setup" is "2," Err38.0 "Over-travel inhibit input protection" is
activates when either POT or NOT is turned on. Therefore, the system operates in accordance with
Pr5.10"Sequence
at alarm", not with this setting value. If other types of errors occur also, Pr5.10 "Sequence at alarm" takes
precedence.
*5 "Immediate stop" refers to the control to stop immediately with the servo control on.
Torque command values for that case are restricted by Pr5.11 "Torque setup for emergency stop".
Because instantaneous stopping slows down a motor suddenly, position deviation of position control becomes larger
instantaneously, and it may cause Err24.0 "Position deviation excess protection" or Err34.0 "Software limit
protection". In that case, specify appropriate values for Pr0.14 "Position deviation excess setup" and Pr5.14 "Motor
working range setup".
*6 "During deceleration" refers to the section from the state where the motor is operating until the speed is reduced to 30
r/min or below. Once the speed reduction achieves 30 r/min and thus it transfers to the "After stop" state, the
post-stop actions will be performed regardless of the motor speed.
Setup range
Unit
0～2
-
0～2
-
0～500
%
*6
During deceleration
Dynamic brake
applied
For the overtravel
direction, torque
command =0
Immediate stop *5 direction, command
Specify drive prohibition input (POT, NOT) input operations.
0: POT Normal direction drive prohibited, NOT Functions as
reverse direction drive prohibition. If POT is input during
normal direction operation, the system halts in accordance with
Pr5.05 "Sequence at over-travel inhibit". For Reverse direction,
the system performs the same operation when NOT is input.
1: POT , NOT is invalid and has no effect on operations.
2: Inputting either POT or NOT activates Err38.0 "Over-travel
inhibit input protection".
If Pr5.04 "Over-travel inhibit input setup"= 0, specify status during
slowdown and after halting after inputting drive prohibition input
(POT, NOT).
To set a torque limit for the immediate stop.
Position deviation/extern
After stop
For the overtravel
direction, torque
command =0
For the overtravel
direction, torque
command =0
For the overtravel
Cleared before and after
=0 *1
Motor Business Unit, Appliances Company, Panasonic Corporation
№SR-ZSV00039 － 53 －
Function
al scale deviation
Retained *2
Retained *2
the deceleration *3