Panasonic A4P Series User Manual
134
Timing Chart
When an Alarm Has Been Cleared (at Servo-ON Command)
Dynamic brake
Motor energization
Brake release output
(BRK-OFF)
(BRK-OFF)
Servo-Alarm output
(ALM)
(ALM)
Alarm-clear input
(Refer to the following
for the input method.)
(Refer to the following
for the input method.)
approx.40ms
approx.2ms
120ms or longer
clear
engaged
released
energized
released (ON)
ready
not-energized
engaged (OFF)
not ready
not input
start to engage
homing
completed
maximum
point number
completed
maximum
point number
Homing command
(Input ON strobe signal,
after point specifying.)
(Input ON strobe signal,
after point specifying.)
100ms or longer
approx.2ms
Current position output
(P1OUT to P32OUT)
(P1OUT to P32OUT)
all OFF (Point 0)
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.
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).
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.
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.