Panasonic MINAS A6 Multi Series Technical Reference page 166

6.3Deceleration stop sequence
Attribute
Class No.
(Note 1)
6 14 B
Contents
 Slow stop operation : Linear deceleration
The figure below indicates the case of slow stop operation under alarm.
*1 The maximum deceleration time is approximately the value obtained by the following formula:
Maximum deceleration time [ms]
*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.
 Emergency stop response alarm triggered with slow stop function valid setting.
For the alarm supported emergency stop, refer to "7.1 List of protective function."
*3 Please set Pr6.14 "Emergency stop time at 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 emergency stop operation from emergency stop response alarm, in case the emergency stop continuation duration exceeds
Pr6.14 "Emergency stop time at alarm", an alarm state will be triggered regardless of the actual motor velocity.
Furthermore, immediate alarm condition will be triggered in case emergency stop non-response alarm is generated inside the driver
during emergency stop.
Also, Pr6.14 "Emergency stop time at alarm" is valid only for Sequence at alarm.
Pr6.14 "Emergency stop time at alarm" is invalid for Sequence upon inputting of over-travel inhibition, Sequence at Servo-Off and
Sequence at main power OFF.
*4 There will be a maximum variance of about 5 [ms] in the switching timing.
Please maintain the main circuit power supply during the time of decelerated stop.
6-9
Title Range
Emergency stop 0 to 1000 ms
time at alarm
Unit Function
Sets the allowable time for stopping when alarm is triggered for
emergency stop. Exceeding this set value will trigger a forced alarm
condition.
In case the set value is 0 (zero), no emergency stop will be made,
but an alarm condition will immediately occur.
In case the slow stop function is to be used, set it to a length
sufficiently longer than the maximum deceleration time, as the
motor velocity will have a delay from the deceleration and stop
command.
This parameter is valid only for Sequence at alarm.
This parameter is invalid for Sequence upon inputting of over-travel
inhibition, Sequence at Servo-Off and Sequence at main power
OFF.
Please refer to "ContentsContentsContents" of this section for
maximum deceleration time.