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[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content
6A 0 to 100
<0>
2msSetup of
mechanical brake
action at stalling
You can set up the time from when the brake release signal (BRK-OFF :
CN X5, Pin-10 and 11) turns off to when the motor is de-energized
(Servo-free), when the motor turns to Servo-OFF while the motor is at
stall.
Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at
Stall" of Preparation as well.
• Set up to prevent a micro-travel/
drop of the motor (work) due to the
action delay time (tb) of the brake
• After setting up Pr6a
>
=
tb ,
then compose the sequence so as
the driver turns to Servo-OFF after
the brake is actually activated.
ON
SRV-ON
BRK-OFF
actual brake
motor
energization
release
OFF
hold
release
energized
hold
non-
energized
Pr6A
tb
6B 0 to 100
<0>
2msSetup of
mechanical brake
action at running
You can set up time from when detecting the off of Servo-ON input signal
(SRV-ON : CN X5, Pin-29) is to when external brake release signal
(BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to
servo off during the motor in motion.
Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in
motion" of Preparation as well.
• Set up to prevent the brake
deterioration due to the motor
running.
• At Servo-OFF during the motor is
running, tb of the right fig. will be
a shorter one of either Pr6B
setup time, or time lapse till the
motor speed falls below 30r/min.
tb
ON
SRV-ON
BRK-OFF
motor
energization
release
OFF
hold
actual
brake
energized
non-
energized
30 r/min
69 0 to 9
<0>
–Sequence at
Servo-Off
You can set up,
1) the action during deceleration and after stalling
2) the clear treatment of deviation counter is set up.
The relation between the setup value of Pr69 and the action/deviation
counter clearance is same as that of Pr67 (Sequence at Main Power Off)
Refer to P.44, "Timing Chart"-Servo-ON/OFF action while the motor is at
stall" of Preparation as well.