Alarm - Panasonic MINAS A6 Series Operating Instructions Manual

2
Preparation
When an Error (Alarm) Has Occurred (at Servo-ON Command)
●
DB/Free run deceleration operation

Alarm

Servo on status
output(SRV-ST)
Dynamic brake
Motor energization
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
●
Immediate stop operation
Alarm
Servo on status
output(SRV-ST)
Dynamic brake
Motor energization
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
Caution
*1. t1 will be a shorter time of either the setup value of Pr4.38[Mechanical brake action at
running setup] or elapsing time for the motor speed to fall below Pr4.39[Brake release
speed setup].
t1 will be 0 when the motor is in stall regardless of the setup pf Pr4.37.
*2. When an alarm is generated, the dynamic brake operates according to Pr5.10 Se-
quence at alarm.
*3. Servo ON status output (SRV-ST) is a signal indicating that it has received the Servo-
On input; please note that it is not an indication showing command input is possible.
*4. The setting where Pr4.38 "Mechanical braking setting during operation" = Pr6.14
"Immediate stop time in case of alarm" is recommended.
When set to Pr4.38≤Pr6.14, the brake will be operated after lapse of Pr4.38 time.
When set to Pr4.38>Pr6.14, the brake will not operate even after lapse of Pr4.38
time, but will operate when transitioned to OFF state.
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9. Timing Chart
Alarm
normal
* output Tr ON
3
Servo on status on
0.5 ms to 5 ms
released
energized
output Tr ON
(ready)
output Tr ON
(not Alarm)
value of Pr4.38
output Tr ON
t1 *1
(Break release)
motor speed
Setup value of Pr4.39
Setup value of Pr4.38
output Tr ON
(Break release)
t1 *1
motor speed
Setup value of Pr4.39
normal
output Tr ON
＊3
0.5 ms to 5 ms
released
energized
output Tr ON Setup value of Pr6.14
(ready)
output Tr ON
(not Alarm)
output Tr ON
＊4
(Break release)
motor speed
Setup value of Pr4.39
output Tr ON
t1
(Break release)
motor speed
Setup value of Pr4.39
alarm
output Tr OFF
Servo on status off
engaged *2
non-energized
output Tr OFF (not ready)
output Tr OFF (Alarm)
output Tr OFF (Break engage)
when setup
value of Pr4.38
is shorter,
engaged (OFF)
when time to fall
below value of
Pr4.39 is shorter,
alarm
output Tr OFF
engaged *2
non-energized
output Tr OFF (not ready)
output Tr OFF (Alarm)
Setup value of Pr4.38
output Tr OFF (Break engage)
t1
＊1
when setup
value of Pr4.38
is shorter,
Setup value of Pr4.38
＊1
output Tr OFF (Break engage)
when time to fall
below value of
Pr4.39 is shorter,