Panasonic A4P Series instruction manual When an Alarm Has Been Cleared at Servo-ON Command

Timing Chart

When an Alarm Has Been Cleared (at Servo-ON Command)

Alarm-clear input￿ (Refer to the following ￿ for the input method.)

Dynamic brake

Motor energization

Brake release output￿ (BRK-OFF)

Servo-Alarm output￿ (ALM)

Homing command￿ (Input ON strobe signal,￿ after point specifying.)

Current position output￿ (P1OUT to P32OUT)

120ms or longer

clear

engaged approx.2ms released

not-energized	approx.40ms		energized
engaged (OFF)			released (ON)
		approx.2ms
not ready			ready
		100ms or longer
not input				start to engage
				homing￿
				completed
all OFF (Point 0)				maximum￿
				point number

1)Alarm Clear can be input in the two ways below.

1.Point input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8)

Specify the point “0” and, when 10 ms or more has passed, enable the strobe signal (STB: CN X5 Pin 24). Alarm Clear is started when the disabled strobe signal input has been enabled.

2.Multi function input (EX-IN1/EX-IN2: CN X5 Pin 22/25)

Assign the Alarm Clear to the multi function input 1 (EX-IN1: CN X5 Pin 22) or multi function input 2 (EX-

IN2: CN X5 Pin 25) by SV.Pr5A (multi function input 1 signal selection) or SV.Pr5C (multi function input 2 signal selection) to enable the Alarm Clear.

Alarm Clear is started when the disabled strobe signal input has been enabled.

The signal logic of multi function input can be changed by SV.Pr59 (multi function input 1 signal logic) or SV.Pr5B (multi function input 2 signal logic).

2)The servo driver power supply turns on again after an alarm is cleared. A step operation can be performed by executing the homing.

When the homing has been completed, a transistor of the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) becomes a maximum point number decided by SV.Pr57 (selection of number of input points).

However, in the absolute mode or if the homing is not required, a transistor of the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) becomes a maximum point number decided by SV.Pr57 (selection of number of input points) immediately after Alarm Clear and the step operation can be performed.

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