Panasonic MINAS A6 Multi Series - 6.3.6.2 Fall prevention function in the event of servo-ON

6.3Deceleration stop sequence
6-7
6.3.6.2 Fall prevention function in the event of servo-ON
By using object 60B2h / 68B2h (Torque offset), the offset value is input to the torque filter when the
servo is turned off, eliminating the delay in rising the torque command at the servo-on command input
timing and preventing the device from falling.
Relevant parameters
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
7
24
C
Function
expansion setup
-32768 to
32767
-
bit7: Internal value state selection of objects 60B2h/68B2h
(Torque offset) in servo-off(Fall prevention function in the
event of Servo-ON)
0:Clear
1:Updated with the set value of 60B2h/68B2h
When this setting value is set to 1, set the value of 60B2h/68B2h
(Torque offset) to a value smaller than the value of Pr5.11 “Torque
offset at immediate stop”
Related object
Index
Sub
Index
Name
Description
Units
Range
Data
Type
Access
PDO
Op-
mode
EEPROM
2107h
-72h
/2507h
-72h
00h
Torque offset
filter
 Set the time constant of primary
delay filter for Torque offset filter
(60B2h/68B2h)
0.01 ms
0 to
6400
I16
rw
NO
ALL
YES
60B2h/
68B2h
00h
Torque offset
 Set the offset of the torque
command (torque feedforward).
 During slowdown in over-travel
inhibition (in emergency stop),
the torque feedforward level
becomes 0.
0.1%
-32768
to
32767
I16
rw
RxPDO
ALL
Yes