Datasheet

№SR-ZSV00039 － 73 －
Motor Business Unit, Appliances Company, Panasonic Corporation
8－2 Timing Chart
8－2－1 Timing Chart of Operations After Turning Power On
Control power
(L1C, L2C)
OFF ON
Internal control
power
OFF Established
Approx 1.5s *1
Micro computer
operation
Reset Initialization
Error
check start
Normal operation
Alarm output
（
ALM
）
Output Tr OFF Output T r ON
Main power
（
L
1
,
L
2
,
L
3
）
OFF ON
*3
Servo ready
output
（
S
-
RDY
）
Output Tr OFF Output T r ON
*5
Servo on input
（
SRV
-
ON
）
Input Couple OFF Input Couple ON
Dynamic brake
*4
Operation (Pr5.07) (Pr5.06) Released
Power to the
motor
No power
Power to the motor
Brake release
output(BRK-OFF)
Output Tr OFF
(brake applied)
Out put Tr ON
(brak e released)
Position/velocit
y/torque command
No command
There is comm and
0s upwards
Approx 60ms
0s upwards
Approx 2ms
Approx 4ms
Approx 100ms
upwards *6
Approx 2s * 2
Approx 100ms upwards
Approx 100-300 ms
• The above chart shows the timing of actions from the time when the control power is turned on until a com-
mand is entered.
Enter the servo-on signal and the position/velocity/torque commands according to the above chart.
*1. When the internal control power has been established, the protective functions get activated approximately
1.5 s after the start of the micro computer initialization. To design your system, keep in mind that all the
input/output signals connected to the driver should be established before the protective functions start get-
ting activated; use special care for signals that can trigger the protective functions such as positive/negative
overtravel limits and external scale input. Also, this time can be extended using Pr6.18 “Power-up wait
time”
*2. After microcomputer initializing,and no errer,the output of ALM is on.
*3. S-RDY output is turned on only when the two conditions are met: initialization of the microcomputer has been
complete, and the main power has been established.
*4. As SRV-OFF,until initialize ending,dynamic brake action is according to Pr5.07” Sequence at main power
OFF”,after main power establish,according to Pr5.06”SRV-OFF sequence”.
*5. After the output of SRV-READY is affirmed,please start the input of SRV-ON。
*6. The signal of SRV-ON from on to the fact of position instruction,the waiting time please
set about 100ms at least.Because from SRV-ON to the fact of power to motor need to consume some time,It is
possibility the position command cann’t be accepted.