Panasonic MINAS-A5B Series - Servo-ON;OFF Action While the Motor Is at Stall (Servo-Lock)

No. SX-DSV02472 -146-
9-2-2 Servo-ON/OFF action while the motor is at stall (servo-lock)
(To turn on/off the servo during normal operation, first stop the motor.)
Approx. 60 ms
Servo-ON
command
Dynamic brake
Motor energization
Brake release output
(BRK-OFF)
OFF
ON
Released
Energized
Output Tr ON
(Brake release)
Engaged
Output Tr OFF
(Brake engage)
Not-energized
Engaged
Approx.2 ms
1 to 6 ms
t1
*1
*2
Not-energize
*3
Approx. 4 ms
Output Tr OFF
(Brake engage)
OFF
*1. t1 depends on the setup value of Pr 4.37 Setup of mechanical brake action at stalling.
*2. The operation of dynamic brake during servo off depends on the setup value of Pr 5.06 (Sequence at Servo-Off).
*3. Servo-ON will not be activated until the motor speed falls below approx. 30 r/min.
*4. A brake release output (BRK-OFF) is output by a release request from the EtherCAT communication (set brake
of 60FEh).
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation