Panasonic MINAS A6 Multi Series - Page 7

Table of contents
vii
6.9 Retracting operation function (Not supported) ......................................................... 6-26
6.10 Backlash correction function (Not supported) .......................................................... 6-27
7. Protective Functions ......................................................................... 7-1
7.1 List of protective function .......................................................................................... 7-2
7.2 Details of protective function ..................................................................................... 7-6
7.2.1 Overload protection time characteristics ..................................................................... 7-28
7.3 Warning function ..................................................................................................... 7-32
7.4 Setup of gain pre-adjustment protection .................................................................. 7-36
7.5 About the protection function setting for homing return by using the Z phase.......... 7-38
8. Advanced Safety Functions .............................................................. 8-1
8.1 Advanced safety functions ........................................................................................ 8-2
8.2 System configuration ................................................................................................ 8-3
8.2.1 Encoder configuration ................................................................................................... 8-3
8.3 Safety input and output signals ................................................................................. 8-4
8.3.1 Safety input ................................................................................................................... 8-4
8.3.2 Safety output ................................................................................................................. 8-4
8.3.3 Testpulse outputs .......................................................................................................... 8-4
8.4 Connection example ................................................................................................. 8-5
8.4.1 Safety input (for source output connection) .................................................................. 8-5
8.4.2 Safety input(for sink output connection) ........................................................................ 8-7
8.4.3 Safety output ................................................................................................................. 8-8
8.4.4 Brake output .................................................................................................................. 8-8
8.5 Details of safety functions ......................................................................................... 8-9
8.5.1 Safety functions ............................................................................................................. 8-9
8.5.2 Optional functions........................................................................................................ 8-12
8.5.3 Details of Safe Torque Off (STO) ................................................................................ 8-13
8.5.3.1 Change point from MINAS-A5 series ................................................................. 8-13
8.5.3.2 Outline of safe torque off (STO) function ........................................................... 8-13
8.5.3.3 Activation to STO state, timing diagram ............................................................. 8-14
8.5.3.4 Return timing diagram from STO state .............................................................. 8-15
8.5.3.5 Connection example .......................................................................................... 8-15
8.6 PANATERM for Safety ............................................................................................ 8-16
8.7 The operation of the driver module ......................................................................... 8-17
8.7.1 Safety STO status ....................................................................................................... 8-17