Panasonic MINAS A6 Multi Series Technical Reference page 287

10.5Driver module when an alarm has occurred (at emergency stop)
10.5 Driver module when an alarm has occurred (at emergency
stop)
The above figure shows the operation timing when the immediate stop deceleration is selected when an
error (alarm) that allows immediate stop deceleration is detected in the driver module in the servo-on
command state.
The timing in the above diagram varies depending on the alarm sequence operation settings.
When assigning the brake release output in the above figure to the mechanical brake output (motor
connector X105 BRK + / BRK- pin), set Pr4.59 "Mechanical brake signal setting"
Refer to "2.4 I/O signal allocation function" when assigning the brake release output in the above figure
to a general-purpose output (servo control I / O connector X4 SO1 / SO2 pin).
*1 t1 will be a shorter time of either the setup value of Pr 4.38 (Mechanical brake action at running setup) or elapsing time for the motor
speed to fall below Pr 4.39 (Brake release speed setup).
*2 When an alarm is generated, the dynamic brake operates according to Pr 5.10 (Sequence at alarm).
*3. A brake release output (BRK-OFF) is different from the set brake of 60FEh via EtherCAT communication.
For information on the set brake output details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification
(SX-DSV03456)".
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