Timing Chart; Power On - Panasonic MINAS A6N Series Operating Instructions Manual

7
Supplement
Servo-on Signal Accept Timing on Power-up
Control power supply
(L1C, L2C)
Internal control
power supply
Action of driver CPU
Main power supply
(L1, L2, L3)
Servo-Ready output
（S-RDY
/RTEX status）
Servo-ON command
(EX-SON
/RTEX status)
Dynamic brake
Servo-ON status
output＊4
Motor energization
Brake release output
（BRK-OFF）
Position/Speed/Torque instruction
（RTEX command）
• The above chart shows the timing from AC power-ON to command input.
• Input the servo-On command, position/velocity/torque commands according to the above

timing chart.

*1 It is shown that in this interval,although you can enter the SRV-ON command,but it can
Caution
not handle it.
*2 The servo ready is turned on when all the following conditions are satisfied: "Initialization
of microcomputer is completed", "Main power supply is established", "No alarm is issued",
and "Synchronization (phase matching) between RTEX communication and servo is com-
pleted and RTEX communication is established".
*3 After Internal control power supply, protective functions are active from approx. 1.5 sec af-
ter the start of initializing microcomputer. Please set the signals, especially for protective
function, for example over-travel inhibit input (POT, NOT) or external scale input,so as to
decide their logic until this term. The lapse time can be changed with Pr 6.18 "Power-up w-
ait time".
*4 Note that the servo-on status output signal is to let you know of the receipt of servo-on
command and is not an output to let you know that command input is possible.
・P.3-39 ～ "Details of Parameter"
Related page
7-62

5. Timing Chart

Power ON

OFF
Approx.100 to 300 ms
OFF
Approx.2 s
Approx.1.5 s
＊3
Reset Initialization
0 s or longer
OFF
Outpt Tr OFF
OFF
Not-energized
Output Tr OFF (brake engaged)
No instruction entry
ON
Established
Usually operation
ON
＊2
10 ms or longer
10 ms or longer Output Tr ON
＊2
0 s or longer
Approx.2 ms
Engaged
Approx.25 ms
Approx. 60 ms
100 ms or longer*1
ON
Released
ON
Energized
Approx. 4 ms
Output Tr OFF
(brake released)
Instruction
entry
Rev.2.00