Panasonic MINAS A6 Series - Slow Stop Function

6-24
6
1. Troubleshooting
When in Trouble
Slow stop function
Outline
Scope of application
Related parameters
When the alarm that must respond to an immediate stop comes on, drop in the vertical
axis, etc. is prevented by keeping the motor energized for the time from when the brake
release output (BRK-OFF) is turned OFF to when the external brakes actually begin to
work.
This function cannot be applied unless the following conditions are satised.
Condition for activation of slow stop function
Control mode Position control (Pr0.01=0)
Others
• Servo-ON state
• Elements other than control parameters, such as torque limit,
etc. have been appropriately set, without any problems in normal
operations.
• Block operation is set to “invalid.”
Class No. Parameter name Set range Units Functions
Pr5.56
Slow stop
deceleration
time setting
0 to 10000
ms/
（
1000r/min
）
Sets the deceleration time under slow stop.
This function will become effective when
Pr6.10 “Function enhancement setting” bit 15
is set to 1.
Pr5.57
Slow stop
S-shape
acceleration
and deceleration
setting
0 to 1000 ms
Sets the S-shape time for deceleration under
slow stop.
This function will become effective when
Pr6.10 “Function enhancement setting” bit 15
is set to 1.
Pr6.10
Function
enhancement
settings
-32768
to
32767
ー
bit 10: Fall prevention function, position
deviation processing under alarm
0 :Invalid (maintain), 1: Valid (clear)
Normally set to 1 to activate fall prevention
function
bit 15: Slow stop function
0 :Invalid, 1: Valid
*Only valid in case position control is set
(Pr0.01 = 0) and block operation is invalid
(Pr6.28 = 0)
Pr6.14
Immediate stop
time under
alarm
0 to 1000 ms
Sets the allowable time for stopping when
alarm is triggered for immediate stop.
Exceeding this set value will trigger a
forced alarm condition. In case the set
value is 0 (zero), no immediate stop will
be made, but an alarm condition will
immediately occur.
In case the slow stop function is to be
used, set it to a length sufciently longer
than the maximum deceleration time, as
the motor velocity will have a delay from
the deceleration and stop command.
* Please refer to (3) of this item for
maximum deceleration time.
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