Panasonic MINAS A6 Series Operating Instructions Manual page 255

1. Details of parameter
[Class 5] Enhancing setting
Pr5.05 *
Sequence at over-travel inhibit
When Pr5.04 Over-travel inhibition = 0, specify the status during deceleration and stop after
application of the over-travel inhibition (POT, NOT).
<Details of Pr5.05 (Sequence at over-travel inhibit)>
Pr5.04 Pr5.05
[0]
0 1
2
*1 In the case of position control and full-closed control, position command = 0 state is indicated, in the case
of velocity control, speed command = 0 state, and in the case of torque control, speed limit value =0 state.
*2 Continuing giving commands in the drive prohibition direction with drive prohibition input set to ON causes
position deviation to accumulate and Err24.0 "Excess position deviation error." When the drive prohibition
input is turned ON, stop giving commands in the drive prohibition direction.
*3 Position deviation and external scale deviation are cleared twice, deceleration start instance and
deceleration completion instance.
In the event that the position is controlled in order to clear the position deviation and external scale
deviation, home position return action must be conducted to return.
*4 Because in the event that the setting is 2 in Pr5.04 "Drive prohibition input setting," Err38.0 "Drive
prohibition input protection" occurs when either one of POT or NOT turns ON, the motor operates not in
accordance with this setting but in accordance with Pr5.10 "Sequence at alarm." When other error occurs,
too, priority is given to Pr5.10 "Sequence at alarm" in the same manner.
*5 Immediate stop means to immediately stop with control applied while servo is turned ON.
The torque command value in such event is restricted by Pr5.11 "Immediate stop torque setting."
Because an immediate stop abruptly decelerates the motor, in position control, the position deviation may
instantaneously increase, and Err24.0 "Position deviation excess protection" or Err34.0 "Allowable motor
operating range setting error protection" may occur.
In such event, set Pr0.14 "Position deviation excess setting" and Pr5.14 "Allowable motor operating range"
to appropriate values.
To stop with the torque set by "Immediate stop torque setting," continue to provide normal command for at
least 4 ms from signal input.
*6 During deceleration means an interval in which the motor achieves the speed lower than 30 r/min from
the condition in which the motor operates. When the motor speed becomes 30 r/min or lower once and
then changes after stopping, the motor follows the state after stopping irrespective of the motor speed.
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During deceleration *6
Dynamic brake
action
Torque command=0
towards inhibited direction
Emergency stop *5
Range Unit
0 to 2 —
After stalling
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Command=0
towards inhibited direction* 1
Default: [ ]
Related
Default
control mode
0 P S T F
Deviation counter
content
Hold*
2
Hold* 2
Clears before/
after deceleration* 3
4-53
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5
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