Alarm - Panasonic MINAS A5-series Operating Instructions Manual

2
Preparation
When an Error (Alarm) Has Occurred (at Servo-ON Command)

Alarm

Dynamic brake
Motor energization
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
External brake
release output
(BRK-OFF)
Caution
*1. t1 will be a shorter time of either the setup value of Pr4.38[Mechanical brake action at
running setup] or elapsing time for the motor speed to fall below Pr4.39[Brake release
speed setup].
t1 will be 0 when the motor is in stall regardless of the setup pf Pr4.37.
*2. When an alarm is generated, the dynamic brake operates according to Pr5.10 Se-
quence at alarm.
When an Alarm Has Been Cleared (at Servo-ON Command)
Alarm-clear input
(A-CLR)
Dynamic brake
Motor energization
External brake
release output
(BRK-OFF)
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
Position/Speed/
Torque command
Caution
*1. The alarm clear input recognition time can be changed in Pr5.16 Alarm clear input setup.
10. Timing Chart
Alarm
normal
released
energized
output Tr ON
(not ready)
output Tr ON
(Alarm)
output ON
(Break release)
motor speed
Setup value of Pr4.39
Setup value of Pr4.38
output ON
(Break release)
motor speed
Setup value of Pr4.39
120ms or longer *1
input coupler
input coupler ON
OFF
engaged
not-energized
output Tr ON
(Break engage)
output Tr OFF
(not ready)
output Tr OFF
(alarm)
no input entry
0.5 to 5 ms
output Tr OFF (not ready)
value of Pr4.38
output Tr OFF (Break engage)
t1 *1
t1 *1
engaged (OFF)
approx.2ms
approx.60ms
approx.4ms
100ms or longer
alarm
engaged *2
non-energized
output Tr OFF (Alarm)
when setup
value of Pr4.38
is shorter,
when time to fall
below value of
Pr4.39 is shorter,
input coupler
OFF
released
energized
output Tr OFF
(Break release)
output Tr ON
(ready)
output Tr ON
(not alarm)
input enabled
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