Panasonic MINAS A6 Multi Series Technical Reference page 158

6.3.3 Sequence at main power OFF
 The operation sequence at the main power supply OFF is changed with combination, such as 6007h/6807h
(Abort connection option code), Pr5.07 (main power off sequence), and PSM Pr.02 (main power off detection
time).
 Basically, the deceleration function defined by CoE (CiA402) is valid until the deceleration function defined by
servo (MINAS-A6) side is activated by detecting the main power supply OFF (between L1, L2, and L3) of the
power supply module.
When "No action" is set by 6007h/6807h = 0, the CoE (CiA402) deceleration function does not operate,
-
and the deceleration function on the servo (MINAS A6) side operates.
When the main power DC-bus voltage decreases, Err13.0 (Main power undervoltage protection [PN])
-
occurs with the highest priority, causing the operation in accordance with Pr5.10 (Sequence at alarm).
 This section explains deceleration function on the servo (MINAS A6) side.
Please refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)"
for details of deceleration function on the CoE (CiA402) side.
Relevant parameters
 Relevant parameters
Class No. Attribute Title
5 07 B
5 08 B
5 09 C
S
5 11 B
6 36 R
PSM Name
Pr.
02 Main power off
detection time
(Note 1) To use this setting with a smaller value than the shipment value, please check matching with your power supply environment.
Range
Sequence at main 0 to 9
power OFF
L/V trip selection 0 to 3
upon main power
off
Detection time of 20 to
main power off 2000
(Note 2)
Torque setup for 0 to 500
emergency stop
Dynamic brake 0 to 1
operation input
setup
Setting Shipping
range setting
0 to 2000 70
Unit Function
- Specify the status during deceleration after main power interrupt or
after stoppage.
- Select LV trip or servo OFF upon occurrence of main AC power
alarm.
Setup the condition to detect main AC power OFF alarm when the
main AC power is kept interrupted for a time longer than the time
set by PSM Pr.02.
bit0: 0: The servo off according to the setting of 6007h/6807h
(Abort connection option code) or Pr5.07.
1: Trip with Err 13.1 Main power undervoltage protection.
(Note 1 )
bit1: 0: Detect main AC power OFF alarm only when servo is in
ON state.
1: Always detect main AC power OFF alarm.
ms Set up main AC power alarm detection time.
Main AC power OFF detection is disabled when the setting value is
2000.
% Set up the torque limit at emergency stop.
When setup value is 0, the torque limit for normal operation is
applied.
- Sets between enabling and disabling dynamic brake (DB) operation
input by I/O.
This function is available only when the main power is turned off.
0:Disabled
1:Enabled
Unit Content
ms Sets up the main power off detection time.
Main power off is not detected if the setting value is set smaller than
20 or is set to 2000. (Note 1)
Application Functions
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