sh030106u.pdf - 第120页

3. SIG NALS A ND WIRI NG 3 - 43 (b) O ff/on of the forc ed stop c ommand (from controll er) or EM2 (Forc ed stop 2) POINT In the torq ue contr ol mod e, the f orced stop dece leratio n functi on is n ot ava ilable. Keep …

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3. SIGNALS AND WIRING
3 - 42
(2) Setting
In [Pr. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR (Electromagnetic
brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section 3.10.2.
3.10.2 Timing chart
(1) When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(a) Servo-on command (from controller) on/off
POINT
Keep the ready-on command (from controller) on while the servo-on command
(from controller) is off. When the ready-off command (from controller) is off, Tb
[Pr. PC02 Electromagnetic brake sequence output] does not function.
When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo
motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be
shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not
drop down for a vertical axis system, etc.
(Note 1)
ON
OFF
ON
OFF
0 r/min
ON
OFF
(Note 3)
0 r/min
ON
OFF
MBR
(Electromagnetic
brake interlock)
Base circuit
Servo motor speed
Operation delay time
of the electromagnetic
brake
Ready-on command
(from controller)
Release
Activate
Operation command
(from controller)
Electromagnetic
brake
Servo-on command
(from controller)
Tb [Pr. PC02 Electromagnetic brake sequence output]
Release delay time and external relay, etc. (Note 2)
Approx. 95 ms
Approx. 95 ms
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electroma
g
netic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit rela
y
. For the release dela
y
time of electroma
g
netic brake, refer to "Servo Motor Instruction Manual
(
Vol. 3
)
".
3. Give the operation command from the controller after the electroma
g
netic brake is released.
3. SIGNALS AND WIRING
3 - 43
(b) Off/on of the forced stop command (from controller) or EM2 (Forced stop 2)
POINT
In the torque control mode, the forced stop deceleration function is not available.
Keep the servo-on command (from controller) and ready-on command (from
controller) on while the forced stop command (from controller) or the EM2
(Forced stop 2) is off. When the ready-off command (from controller) is off, Tb
[Pr. PC02 Electromagnetic brake sequence output] does not function.
MBR
(Electromagnetic
brake interlock)
ON
ALM (Malfunction)
ON (no alarm)
OFF (alarm)
Base circuit
(Energy supply to
the servo motor)
ON
(Note 1)
OFF
0 r/min
Servo motor speed
Model speed command 0
and equal to or less than
zero speed (Note 2)
Disabled (ON)
Enabled (OFF)
OFF
ON
ON
OFF
Release
Activate
OFF
Electromagnetic brake
Forced stop command
(from controller) or EM2
(Forced stop 2)
Tb [Pr. PC02 Electromagnetic
brake sequence output]
Operation delay time
of the electromagnetic
brake
Ready-on command
(from controller)
Servo-on command
(from controller)
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electroma
g
netic brake is activated.
2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo
motor.
3. SIGNALS AND WIRING
3 - 44
(c) Alarm occurrence
1) When the forced stop deceleration function is enabled
Controller command is
not received.
Alarm occurrence
Alarm No.No alarm
Model speed command 0
and equal to or less than
zero speed (Note)
MBR
(Electromagnetic
brake interlock)
ON
OFF
ON (no alarm)
OFF (alarm)
Base circuit
(Energy supply to
the servo motor)
ON
OFF
Servo amplifier
display
0 r/min
Servo motor speed
ALM (Malfunction)
Tb [Pr. PC02 Electromagnetic
brake sequence output]
Operation delay time
of the electromagnetic
brake
ON
ON
OFF
Release
Activate
OFF
Electromagnetic
brake
Ready-on command
(from controller)
Servo-on command
(from controller)
Note. The model speed command is a speed command
g
enerated in the servo amplifier for forced stop deceleration of the servo motor.
2) When the forced stop deceleration function is disabled
The operation status is the same as section 3.7.1 (2).