Panasonic MINAS A6 Multi Series Technical Reference page 167

 Slow stop operation : S-shape deceleration
S shape process at the time of slow stop operation can be made by setting Pr5.57.
Refer to the following figure to set Pr5.57.
* Velocity control command at the time of starting slow stop operation shall be calculated from the actual velocity.
 Braking distance
When Pr 5.56 and Pr5.57 has been set, the braking distance under emergency stop will increase by
approximately the following formula. Please confirm its influence on the actual machine operations, when
using.
 In case of linear deceleration (Pr5.57 = 0)
Linear decelerating time [s]
Linear deceleration brake distance [revolution]
 For S-shape deceleration (Pr5.57 ≠ 0)
S-shape deceleration braking distance [revolution]

The above formulae are braking distances for the velocity control command only and the
actual motor control delay has to be taken into account. Furthermore, in case the torque
command under deceleration is restricted by emergency stop torque stetting, the braking
distance will not be as per the formulae indicated above.
Application Functions
6-10