Omron R88D-1SN08H-ECT - Page 627

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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-7 Applied Function Objects
9
9-7-4 3B21 hex: Deceleration Stop
Sets the operation during deceleration stop.
• Sets the torque for deceleration stop.
• Sets the value in units of 0.1% of the rated voltage (100%).
• The set value is used for the following deceleration stop methods.
a) When the drive prohibition is enabled and deceleration is performed with Drive Prohibition -
Stop Selection (3B10-02 hex) set to 2
b) When deceleration is performed with Disable Operation Option Code (3B20-02 hex) set to -6
or -4
c) When deceleration is performed with Shutdown Option Code (3B20-01 hex) set to -7 to -4
d) When deceleration is performed with Halt Option Code (3B20-03 hex) set to 3
e) When deceleration is performed with Fault Reaction Option Code (3B20-04 hex) set to -7 to -4
f) When deceleration is performed with Software Position Limit - Stop Selection (3B11-02 hex)
set to 2
Sets the Latch Function 1 (Touch Probe 1). Refer to 7-11 Touch Probe Function (Latch Function) on
page 7-39 for details.
9-7-4 3B21 hex: Deceleration Stop
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3B21 --- Deceleration
Stop
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 01 hex --- 1 byte
(U8)
RO --- --- ---
01 Torque 1 to 5,000 0.1% 5,000 E 4 bytes
(INT32)
RW --- --- ---
Subindex 01 hex: Torque
9-7-5 3B30 hex: Touch Probe 1
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3B30 --- Touch Probe 1 --- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 84 hex --- 1 byte
(U8)
RO --- --- ---
01 Touch Probe 1
Source
1 to 6 --- 1 A 2 bytes
(INT16)
RW --- --- ---
81 Status --- --- --- --- 4 bytes
(INT32)
RO --- --- ---
83 Positive Edge
Time Stamp
--- ns --- --- 8 bytes
(U64)
RO TxPDO --- ---
84 Touch Probe 1
Positive Edge
--- Com-
mand
unit
--- --- 4 bytes
(INT32)
RO --- --- ---
F1 Setting 00000000
to
FFFFFFFF
hex
--- 0 A 4 bytes
(INT32)
W --- --- ---