Panasonic MINAS A6 Series Operating Instructions Manual page 256

1. Details of parameter
[Class 5] Enhancing setting
Pr5.06
Sequence at Servo-Off
Specify the status during deceleration and after stop, after servo-off.
Setup
value
[0]
1
2
3
4
5
6
7
8
9
*1 Emergency stop refers to a controlled immediate stop with servo-on.
The torque command value is limited during this process by Pr5.11 Emergency stop torque setup.
*2 If the positional command is kept applied or the motor is kept running with servo-off condition, positional
deviation is accumulated, causing Err24.0 Excess positional deviation protection to be issued. If the
servo is turned ON while the position or external scale is significantly deviating, the motor may rapidly
operate to reduce the deviation to 0. Remember these requirements if you want to maintain the
positional deviation/external scale deviation.
*3 Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the
motor speed drops below 30 r/min, it is treated as in stop state regardless of its speed.
*4 Positional deviation/external scale deviation is always cleared to 0.
Caution If an error occurs during servo-off, follow Pr5.10 Sequence at alarm. If the main power is
turned off during servo-off, follow Pr5.07 Sequence during main power interruption.
Related page
Refer to P.2-63, "Timing Chart"-Servo-ON/OFF action while the motor is at stall" of
Preparation as well.
Pr5.07
Sequence at main power OFF
Specify the status during deceleration after main power interrupt or after stoppage.
The relationship between the setup value of Pr5.06 and the operation and process at
deviation counters is the same as that for Pr5.07 (sequence at main power OFF).
Caution
If an error occurs with the main power supply turned off, Pr5.10 Sequence at alarm is
applied to the operation.
When the main power supply is turned off with servo-on state, Err13.1 Main power
undervoltage error occurs if Pr5.08 LV trip selection with main power off = 1, and the
operation follows Pr5.10 Sequence at alarm.
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4-54
During deceleration
*3
Dynamic Brake (DB) action
Free-run (DB OFF)
Dynamic Brake (DB) action
Free-run (DB OFF)
Dynamic Brake (DB) action
Free-run (DB OFF)
Dynamic Brake (DB) action
Free-run (DB OFF)
Emergency stop *1
Emergency stop *1
Range Unit
0 to 9 —
After stalling
Dynamic Brake (DB) action
Dynamic Brake (DB) action
Free-run (DB OFF)
Free-run (DB OFF)
Dynamic Brake (DB) action
Dynamic Brake (DB) action
Free-run (DB OFF)
Free-run (DB OFF)
Dynamic Brake (DB) action
Free-run (DB OFF)
Range Unit
0 to 9 —
Default: [ ]
Related
Default
control mode
0 P S T F
Positional deviation/
external scale
deviation
Clear *4
Clear
*4
Clear
*4
Clear *4
Hold *2
Hold *2
Hold
*2
Hold
*2
Clear *4
Clear *4
Related
Default
control mode
0 P S T F