Fall Prevention Function In The Event Of Alarms - Panasonic MINAS A6N Series Operating Instructions Manual

6
When in Trouble
Outline
Since the servo drive cuts off motor energization when alarm occurs, a workpiece may
fall from the vertical axis such as a robot arm during the period from when brake release
output (BRK-OFF) becomes OFF to when external brake actually operates.
This function can prevent a fall when alarm occurs by setting the sequence at alarm to
immediate stop.
This function cannot be used for alarm that does not support immediate stop.
Related Parameters
Class No.
5
6
6
Content
• Drop prevention function action when alarm that must respond to an immediate stop
Motor speed
With/without alarm
Servo alarm output
(ALM)
Brake release output
(BRK-OFF)
Motor current
Dynamic brake
Note
In the event that the drop prevention function is enabled when alarm is generated, set Pr5.10
"Sequence at alarm" to 4, Pr6.10 "Function expansion setting" bit 10 to "1," and a value
longer than the time when brake release output (BRK-OFF) is turned OFF and external brake
actually operates to Pr6.51 "Immediate stop end wait time."
Rev.2.00
1. Troubleshooting

Fall Prevention Function in the Event of Alarms

Title
10 Sequence at alarm
Function expansion
10
setting
Immediate stop
51
completion wait time
Motor stops
(at 30 r/min or lower)
(30 r/min or lower)
Normal
Immediate stop supported alarm
0.5 to 5 ms
OFF (abnormal)
ON (normal)
Application of external brake
OFF (operation)
ON (release)
Pr6.51 is set
ON
Released
Function
To set the state during deceleration and after stopping when
alarm is generated.
Setting to 4 through 7 enables an immediate stop.
To set the bit concerning drop prevention function.
bit10: Fall prevention function, under alarm
0: Invalid 1: Valid
When the drop prevention function is made enabled, usually
set to 1.
Note: The lest significant bit is designated as bit0.
When alarm that must respond to an immediate stop is
generated, after turning OFF the brake release output (BRK-
OFF), set the time to maintain the motor energization. In the
case of zero setting, the drop prevention function is disabled.
Motor runs
(at 30 r/min or higher)
30 r/min
Normal
ON (normal)
ON (release)
OFF
ON
Released
Engaged
Deceleration start
30 r/min or lower
Immediate stop supported alarm
0.5 to 5 ms
OFF (abnormal)
Application of external brake
OFF (operation)
Pr6.51 is set
OFF
Engaged
1
2
3
4
5
6
7
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