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[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
69 0 to 9
<0>
–Sequence at
Servo-Off
You can set up,
1) the action during deceleration and after stalling
2) the clearing of deviation counter content,
after turning to Servo-OFF (SRV-ON signal : CN X5, Pin-29 is turned from
ON to OFF)
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.
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