Panasonic MINAS A5-series Operating Instructions Manual page 212

1. Details of parameter
[Class 5] Enhancing setting
Pr5.06
Range
Specify the status during deceleration and after stop, after servo-off.
Setup
value
0
1
2
3
4
5
6
7
8
9
*1 Emergency stop refers to a controlled immediate stop with servo-on.
The torque command value is limited during this process by Pr5.11 Emergency stop torque setup.
*2 If the positional command is kept applied or the motor is kept running with servo-off condition, positional
deviation is accumulated, causing Err24.0 Excess positional deviation protection to be issued. If
the servo is turned ON while the position or feedback scale is significantly deviating, the motor may
rapidly operate to reduce the deviation to 0. Remember these requirements if you want to maintain the
positional deviation/feedback scale deviation.
*3 Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the
motor speed drops below 30 r/min, it is treated as in stop state regardless of its speed.
*4 Positional deviation/feedback scale deviation is always cleared to 0.
Caution If an error occurs during servo-off, follow Pr5.10 Sequence at alarm. If the main power is
turned off during servo-off, follow Pr5.07 Sequence during main power interruption.
Related page
Refer to P.2-32, "Timing Chart"-Servo-ON/OFF action while the motor is at stall" of
Preparation as well.
Pr5.07
Range
Specify the status during deceleration after main power interrupt or after stoppage.
The relationship between the setup value of Pr5.06 and the operation and process at
deviation counters is the same as that for Pr5.07 (sequence at main power OFF).
Caution
If an error occurs with the main power supply turned off, Pr5.10 Sequence at alarm is
applied to the operation.
When the main power supply is turned off with servo-on state, Err13.1 Main power
undervoltage error occurs if Pr5.08 LV trip selection with main power off = 1, and the
operation follows Pr5.10 Sequence at alarm.
Note • For parameters which No. have a suffix of " * ", changed contents will be validated when
you turn on the control power.
Related page
• P.3-30... "Inputs and outputs on connector X4"
4-44
Sequence at Servo-Off
Title
0 to 9
During deceleration
Dynamic Brake (DB) action
Free-run (DB OFF)
Dynamic Brake (DB) action
Free-run (DB OFF)
Dynamic Brake (DB) action
Free-run (DB OFF)
Dynamic Brake (DB) action
Free-run (DB OFF)
Emergency stop *1
Emergency stop *1
Sequence at main power OFF
Title
0 to 9
Unit
After stalling
*3
Dynamic Brake (DB) action
Dynamic Brake (DB) action
Free-run (DB OFF)
Free-run (DB OFF)
Dynamic Brake (DB) action
Dynamic Brake (DB) action
Free-run (DB OFF)
Free-run (DB OFF)
Dynamic Brake (DB) action
Free-run (DB OFF)
Unit
Related
P
control mode
— 0
Default
Positional deviation/
feedback scale
deviation
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Clear
Clear
Related
P
control mode
— 0
Default
S T F
*4
*4
*4
*4
*2
*2
*2
*2
*4
*4
S T F