Panasonic MINAS A6 Multi Series Technical Reference page 165

6.3.7 Slow stop function
When a drive prohibition input, servo-off, main power-off, or immediate-stop alarm is detected with
immediate stop settings, the motor can be smoothly stopped by applying control while the servo is on.
Applicable range
This function cannot be applied unless the following conditions are satisfied.
Condition for activation of slow stop function:
 Position control, Velocity control, Torque control (Note 1) (Note 2)
Control Mode
 Servo-ON state
Others
 Elements other than control parameters, such as torque limit, etc. have been appropriately set, without any problems
in normal operations.
(Note 1) During emergency stop, the control mode is forcibly set to position control.
(Note 2) Under full-closed control, the Slow Stop function is not supported. Disable the Slow Stop function for full-closed control.
Relevant parameters
 Relevant parameters
Class No. Attribute Title
5 05 C
5 06 B
5 07 B
5 10 B
5 56 B
5 57 B
6 10 B
(To be continued)
Range
Sequence at 0 to 2
over-travel inhibit
Sequence at 0 to 9
Servo-Off
Sequence upon 0 to 9
main power off
Sequence at alarm 0 to 7
Slow stop 0 to
deceleration time 10000
setting
Slow stop S-shape 0 to 1000 ms
acceleration and
deceleration
setting
Function -32768 to
expansion setup 32767
Unit Function
- When Pr5.04 Over-travel inhibition = 0, specify the status during
deceleration and stop after application of the over-travel inhibition
(POT, NOT).
When the Slow Stop function is enabled, set up emergency stop.
- Specify the status during deceleration and after stop, after
servo-off.
When the Slow Stop function is enabled, set up emergency stop.
- Specify the status during deceleration after main power interrupt or
after stoppage.
When the Slow Stop function is enabled, set up emergency stop.
- Specify the status during deceleration and after stop, after
occurrence of alarm.
When the Slow Stop function is enabled, set up emergency stop
ms / Sets the deceleration time under slow stop.
(1000
This function will become effective when Pr6.10 "Function
r/min)
expansion setup" bit 15 is set to 1..
Sets the S-shape time for deceleration under slow stop.
This function will become effective when Pr6.10 "Function
expansion setup" bit 15 is set to 1.
-
bit10: Fall prevention function in case of alarms
0: Invalid
1: Valid
* To enable the slow stop function, set to 1.
bit15: Slow stop function
0: Invalid
1: Valid
* Set this to 0 for full-closed control.
Application Functions
6-8