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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.
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
Dy
namic brake braking diagram
te
OFF
ON
Emergency stop (EMG)
Actual dynamic brake operation
N
Time
ON
Dynamic brake control output
OFF
ON
Motor rotation speed
Coasting amount