Panasonic MINAS A6 Series Operating Instructions Manual page 397

1. When in Trouble
Slow stop function
Contents
Slow stop operation
•
The figure below indicates the case of slow stop operation under alarm.
Velocity [r/min]
3000
1000
30
0
Standard
Torque limit *4)
Motor power *4)
External brake release *4)
*1) The maximum deceleration time is approximately the value obtained by the following formula:
Maximum deceleration time [ms]
Maximum velocity under normal operation pattern [r/min]) x Pr5.56 [ms/(1000 r/min)]
＝
*2) To be the detection of following conditions:
• Drive prohibited input with slow stop function valid setting.
• Servo-OFF with slow stop function valid setting.
• Main power OFF with slow stop function valid setting.
• Immediate stop response alarm triggered with slow stop function valid setting.
For immediate stop response alarm, refer to P.6-3.
*3) Please set Pr6.14 "Immediate stop time under alarm" to a value that is sufficiently long in length
than the completion of slow stop operation. The stop judgment under slow stop operation is
based on actual velocity. Therefore, the time required for the actual deceleration may take longer
than the maximum deceleration time.
In the immediate stop operation from immediate stop response alarm, in case the immediate stop
continuation duration exceeds Pr6.14 "Immediate stop time under alarm", an alarm state will be
triggered regardless of the actual motor velocity.
Furthermore, immediate alarm condition will be triggered in case immediate stop non-response
alarm is generated inside the driver during immediate stop.
*4) There will be a maximum variance of about 5 [ms] in the switching timing.
Note) Please maintain the main circuit power supply during the time of decelerated stop.
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Slow stop action start condition detection
Actual motor velocity
Pr5.56 "Slow stop deceleration time setti
Max. deceleration time *1
Pr6.14 Immediate stop time under alarm *3)
Pr4.38 Mechanical brake action set under operation
Pr5.11 Immediate stop torque setting
Powered
Release
1000
Pr6.51 Immediate stop completion wait time
Standard
Not powered
Activate
1
2
3
Time [ms]
4
+ Pr5.57[ms]
5
6
7
6-25