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4 Characteristics
MITSUBISHI CNC
(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.
Coasting amount calculation coefficients table
L
MAX
: Motor coasting distance (angle) [mm, (deg)]
F : Axis feedrate [mm/min, (deg/min)]
N : Motor speed [r/min]
J
M
: Motor inertia
[kg•cm
2
]
J
L
: Motor shaft conversion load inertia
[kg•cm
2
]
t
e
: Brake drive relay delay time [s] (Normally, 0.03s)
A : Coefficient A (Refer to the next page)
B : Coefficient B (Refer to the next page)
Motor type
JM (kg•cm
2
)
A B
HF75 2.6
0.41×10
-9
20.66×10
-3
HF105 5.1
0.31×10
-9
29.01×10
-3
HF54 6.1
2.85×10
-9
30.40×10
-3
HF104 11.9
2.82×10
-9
4.57×10
-3
HF154 17.8
2.34×10
-9
5.06×10
-3
HF224 23.7
1.98×10
-9
6.44×10
-3
HF204 38.3
6.78×10
-9
7.75×10
-3
HF354 75.0
4.09×10
-9
10.11×10
-3
HF123 11.9
3.78×10
-9
3.57×10
-3
HF223 23.7
3.02×10
-9
4.27×10
-3
HF303 75.0
7.82×10
-9
7.10×10
-3
HF142 17.8
5.04×10
-9
2.76×10
-3
HF302 75.0
11.23×10
-9
5.29×10
-3
HF-KP13 0.88
0.25×10
-9
3.12×10
-3
HF-KP23 0.23
0.41×10
-9
2.47×10
-3
HF-KP43 0.42
0.39×10
-9
1.39×10
-3
HF-KP73 1.43
0.27×10
-9
17.43×10
-3
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N
Dynamic brake braking diagram
Motor speed
Actual dynamic brake operation
Dynamic brake control output
Emergency stop (EMG)
OFF
ON
OFF
ON
OFF
ON
t
e
Time
Coasting amount