Mitsubishi Electronics MDS-R Manuel D’Utilisation
3. Characteristics
3 - 12
(2) Coasting rotation distance during emergency stop
The distance that the motor coasts (angle for rotary axis) when stopping with the dynamic brakes
can be approximated with the following expression.
can be approximated with the following expression.
L
MAX
=
F
60
▪
{te + (1 +
J
L
J
M
)
▪
(A
▪
N
2
+ B)}
L
MAX
: Motor coasting distance (angle)
[mm, (deg)]
F
: Axis feedrate
[mm/min, (deg/min)]
N
: Motor rotation speed
[r/min]
J
M
: Motor inertia
[kg.cm
2
]
J
L
: Motor shaft conversion load inertia
[kg.cm
2
]
te
: Brake drive relay delay time
(s) (Normally, 0.03s)
A
: Coefficient A (Refer to the table below)
B
: Coefficient B (Refer to the table below)
OFF
Dynamic brake braking diagram
te
OFF
ON
ON
Emergency stop (EMG)
Actual dynamic brake operation
N
Time
ON
Dynamic brake control output
OFF
ON
ON
Motor rotation speed
Coasting amount