Panasonic MINAS-A5B Series - Page 99

No. SX-DSV02472 -93-
(2) Contents
• Detail of deceleration stop on servo (MINAS-A5) side (sequence at time of run-inhibition input) (Pr5.04 = 0)
Pr 5.04
*4)
Pr 5.05
During deceleration *5)
After stalling (Approx. 30 r/min or below)
Stopping method
Deviation
Operation after stopping
Deviation
0
Common
• Forcibly controls the position. *1)
• Forcibly stops position command
generation. *1)
• Bit 11(Internal limit active) of 6041h
(Statusword) is ON.
—
•
Control mode depends on the
command. *2)
• Bit 11(Internal limit active) of
6041h (Statusword) is ON.
—
0 • Dynamic brake action Clear *3)
• Torque command=0
towards inhibited direction
Hold
1 • Free run (DB OFF) Clear *3)
• Torque command=0
towards inhibited direction
Hold
2
• Emergency stop *4)
• Torque limit=Pr 5.11
Clear *3)
• Torque limit and torque
command are as usual.
Hold
*1) During deceleration, the system is forced to perform position control, forcibly stopping the internal
position command generating process.
*2) Stop a command in over-travel inhibit direction with the over-travel inhibit input set to ON. If a command
is issued in over-travel inhibit direction, the command is neglected.
*3) During deviation clearing, the process that lets the internal command position to follow the feedback
position is activated. At the instantaneous stopping and at the end of deceleration, position
deviations/external scale deviations accumulated during deceleration are cleared.
*4) Emergency stop refers to a controlled immediate stop with servo-on.
The torque command value is limited during this process by Pr 5.11 Emergency stop torque setup.
*5) 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.
• Detail of CoE (CiA402) side deceleration stop (Pr5.04 = 1)
Pr5.04
control mode
*3)
During deceleration *2) After stalling (about 30 or less r/min)
Stopping method
Operation after a stopping
1
Common
・
Hold a servo-on condition. *4)
・
Bit 11(Internal limit active) of 6041h
(Statusword) is ON. *3)
・ Hold a servo-on condition. *4)
・
Bit 11(Internal limit active) of 6041h
(Statusword) is ON. *3)
pp,pv,ip,
csp,csv
Deceleration stop in 6085h(quick stop decelerati
on).
・ No command acceptance towards inhibited
direction *1)
tq,cst
Deceleration stop in 6087h(Torque slope).
*1) When the drive inhibit input of the ON state can stop a directive to towards inhibited direction.
If you give a command in the towards inhibited direction, the directive will be ignored.
*2) 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.
*3) At hm mode, since things or after stopping in accordance with method that is specified, perform the
reverse motion, the mode with the home edge of POT / NOT, not ON the Bit 11(Internal limit active) of
6041h (Statusword) .
For details, refer to Technical Reference, SX-DSV02473” Section 6-6-5 "Homing Position Control Mode
(hm mode)", EtherCAT communication specification.
*4) It will be in a servo-off state at the time of 605Ah=0.
• In case of deceleration stop on servo (MINAS-A5) side (sequence at time of alarm) (Pr5.04 = 2)
Err38.0 "Over-travel inhibit input protection" occurs when POT or NOT is turned on.
Therefore, the system operates according to Sequence at alarm. but not to this setting.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation