Panasonic MINAS A6 Multi Series Technical Reference page 163

6.3.6 Fall prevention function in the event of alarms/servo-ON
6.3.6.1 Fall prevention function in the event of alarms
 If the alarm requiring emergency stop has occurred, falling of the robot arm is prevented by maintaining the
energization to the motor until the external brake is actually operated after the brake release output
(BRK-OFF) is turned OFF.
 This function can prevent a fall when alarm occurs by setting the sequence at alarm to emergency stop. This
function cannot be used for alarm that does not support emergency stop.
 For details of Sequence at alarm, refer to Section "6.3.4 Sequence at alarm" and "6.3.5 Emergency stop
upon occurrence of alarm".
For details of the alarm that supports emergency stop, refer to Section "7.1 List of protective function".
 To release the brake from the I/O connector, refer to "2.4 I/O signal allocation function".
To release the brake from the exclusive output for holding brake, refer to "2.5 Mechanical brake output".
Relevant parameters
 Relevant parameters
Class No. Attribute Title
5 10 B
6 10 B
6 51 B
Contents
Operation of the fall prevention function in the event of the alarm requiring emergency stop
Range
Sequence at alarm 0 to 7
Function -32768 to
expansion setup 32767
Wait time for 0 to
emergency stop 10000
Unit Function
- Specify the status during deceleration and after stop, after
occurrence of alarm.
Setting the parameter to one of 4 to 7, enables emergency stop.
- Set the bit related to the fall prevention function.
bit10: Fall prevention function in case of alarms
0: Invalid
1: Valid
To enable the fall prevention function, normally set this
parameter to 1.
The least significant bit is bit0.
ms Set the time to maintain the motor energization after the brake
release output (BRK-OFF) is turned OFF in the event of an alarm
requiring emergency stop.
When the set value is 0, the fall prevention function is disabled.
This parameter is enabled even when Pr6.10 "Function expansion
setup" is not set to bit10=1. To enable the fall prevention function,
however, be sure to set Pr6.10 "Function expansion setup" to
bit10=1.
Application Functions
6-6