Panasonic A6 Servo Motor and Driver Instruction — Built-in Holding Brake

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Keywords:Panasonic A6 Servo Installation Instruction, Panasonic A6 Driver, Panasonic A6 Series Servo Motor Manual

Panasonic A6 Servo Motor and Driver Instruction — Built-in Holding Brake

Abstract

In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off.

Caution →

Use this built-in brake for "Holding" purpose only, that is to hold the stalling status. Never use this for "Brake" purpose to stop the load in motion.

Connecting Example

The following shows the example when the brake is controlled by using the brake release output signal (BRK-OFF) of the driver.

Note → 1. The Brake coil has no polarity.

Caution → 2. Power supply for the brake to be provided by customer. Do not co-use the power supply for the brake and for the control signals (VDC).

3. Install a surge absorber as the above Fig. shows to suppress surge voltage generated by ON/OFF action of the relay (RY). When you use a diode, note that the time from the brake release to brake engagement is slower than that of the case of using a surge absorber.
4. For a surge absorber, refer to P.7-146, "Recommended Components" of supplement.
5. Recommended components are specified to measure the brake releasing time.
Reactance of the cable varies depending on the cable length, and it might generate surge voltage.
Select a surge absorber so that relay coil voltage (max. rating:30V, 50mA) and terminal voltage may not exceed the rating.

Output Timing of BRK-OFF Signal

For the brake release timing at power-on, or braking timing at Seervo-OFF/Servo-Alarm while the motor is in motion, refer to P.2-42, "Timing Chart".
With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in motion), you can set up a time between when the motor to a free-run from energized status and when BRK-OFF signal turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion.

Note →

The lining sound of the brake (chattering and etc.) might be generated while running the motor with built-in brake, however this does not affect any functionality.
Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is open). Pay an extra attention when magnetic sensors are used nearby the motor.

Specifications

Motor series	Motor output	Static friction torque N*m	Rotor inertia x 10^-4kg*m²	Engaging time ms	Releasing time ms	Exciting current DC A (at cool-off)	Releasing voltage	Permissible work (J) per one braking	Permissible total work x 10³J	Permissible angular acceleration rad/s²
MSMF	50 W, 100W	0.294 or more	0.002	35 or less	20 or less	0.30	DC1V or more	39.2	4.9	30000
	200 W, 400 W	1.27 or more	0.018	15 or less	50 or less	0.36		137	44.1
	750 W	2.45 or more	0.075	70 or less	20 or less	0.42		196	147
	1.0 kW (☐80)	3.80 or more	0.075	70 or less	20 or less	0.42		185	80.0
	1.0kW(☐100), 1.5kW, 2.0kW	8.0 or more	0.175	50 or less	15 or less	0.81	DC2 V or more	600	50	10000
	3.0 kW	12.0 or more	0.175	80 or less	15 or less	0.81		600	900
	4.0 kW	16.2 or more	1.12	110 or less	50 or less	0.90		1470	2160
	5.0 kW	22.0 or more	1.12	110 or less	50 or less	0.90		1545	2000
MQMF	100 W	0.39 or more	0.018	15 or less	20 or less	0.30	DC1 V or more	105	44.1	3000
MQMF	200 W, 400 W	1.6 or more	0.075	70 or less	20 or less	0.36	DC1 V or more	185	80.0	3000
MDMF	1.0kW, 1.5kW, 2.0kW	13.7 or more	1.12	100 or less	50 or less	0.79	DC2 V or more	1470	2160	10000
	3.0 kW	22.0 or more	1.12	110 or less	50 or less	0.90		1545	2000	10000
	4.0 kW	25.0 or more	4.7	80 or less	25 or less	1.29		1800	3000	5440
	5.0 kW	44.1 or more	4.1	150 or less	30 or less	1.29		1800	3100	5108
MGMF	850 W, 1.3kW, 1.8 kW	13.7 or more	1.12	100 or less	50 or less	0.79	DC2 V or more	1470	2160	10000
	2.4kW	25.0 or more	4.7	80 or less	25 or less	1.29		1800	3000	5440
	2.9 kW	25.0 or more	4.7	80 or less	25 or less				3000	5440
	4.4 kW	44.1 or more	3.93	150 or less	30 or less				3100	5108
MHMF	50 W, 100 W	0.38 or more	0.002	35 or less	20 or less	0.30	DC1 V or more	39.2	4.9	30000
	200 W, 400 W	1.6 or more	0.018	50 or less		0.36		105	44.1
	750 W, 1.0kW (☐80)	3.8 or more	0.075	70 or less		0.42		185	80.0
	1.0kW(☐130), 1.5kW	13.7 or more	1.12	100 or less	50 or less	0.79	DC2 V or more	1470	2160	10000
	2.0 kW, 3.0kW, 4.0kW	25 or more	4.7	80 or less	25 or less	1.29		1800	3000	5440
	5.0 kW	44.1 or more	4.1	150 or less	30 or less	1.29		1800	3100	5108

Excitation voltage is DC24 V ±100% (MSMF 50 W to 750 W DC24 V±1.2).
Releasing time values represent the ones with DC-cutoff using a varistor.
Above values (except static friction torque, releasing voltage and excitation current) represent typical values.
Backlash of the built-in holding brake is kept ±1^° or smaller at ex-factory point.
Service life of the number of acceleration/deceleration with the above permissible angular acceleration is more than 10 million times. (Life end is defined as when the brake backlash drastically changes.)

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Panasonic A6 Servo Motor and Driver Instruction &mdash; Built-in Holding Brake

HIGH SPEED IML ROBOT

Panasonic A6 Servo Motor and Driver Instruction — Built-in Holding Brake

Abstract

Caution →

Connecting Example

Output Timing of BRK-OFF Signal

Specifications

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The Application of End of Robotic Arm Tooling

Two Cavities Parts Picking EOAT with Runner Cutting by Air Nipper

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Panasonic A6 Servo Motor and Driver Instruction — Built-in Holding Brake