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[Preparation]
Preparation
When an Alarm Has Been Cleared (at Servo-ON Command)
Dynamic brake
Motor energization
Brake release output
(BRK-OFF)
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
Alarm-clear input
(A-CLR)
approx.40ms
approx.2ms
120ms or longer
clear
engaged
released
energized
released (ON)
ready
not alarm
not-energized
engaged (OFF)
not ready
alarm
no input entry
input enabled
Position/Speed/
Torque command
100ms or longer
approx.2ms
When an Error (Alarm) Has Occurred (at Servo-ON Command)
<Cautions>
*1. t1 will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to fall below
30r/min.
t1 will be 0 when the motor is in stall regardless of the setup pf Pr6A.
*2. For the action of dynamic brake at alarm occurrence, refer to an explanation of Pr68, "Sequence at alarm
("Parameter setup" at each control mode) as well.
Alarm
Dynamic brake
Motor energization
normal
energized
ready
not alarm
alarm
engaged *2
non-energized
not ready
alarm
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
0.5 to 5 ms
t1 *1
engaged (OFF)
engaged
(OFF)
released (ON)
released (ON)
approx.30r/min
approx.30r/min
motor speed
motor speed
Break release output
(BRK-OFF)
t1 *1
Setup value of
Pr6B
Setup value of
Pr6B
when setup
value of Pr6B
is shorter,
when time to fall
below 30r/min
is shorter,