Panasonic MINAS A6 Multi Series Technical Reference page 289

10.6Driver module when an alarm has been cleared
10.6 Driver module when an alarm has been cleared
The above figure shows the operation timing when an alarm clear command is executed when a
clearable alarm is generated in the driver module.
Since the servo-on command is canceled once when an alarm is generated, perform PSD transition
from EtherCAT communication at the timing of section "10.2 Driver module servo-ON/OFF action while
the motor is at stall (servo-lock)" when the servo is turned on again.
*1 The length of time for identifying alarm clear input is the length of time set for Pr5.15.
*2 When clearing an alarm from EtherCAT communication or PANATERM for Multi(USB communication, EoE communication), turn OFF
alarm clear input (A-CLR) once.
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