Omron R88D-KN series User Manual

A-57
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This object sets the operation of the G5-series Servo Drive during deceleration and after stop,
following the main circuit power OFF (Shutdown) state.
Description of Settings
*1 Decelerating is the time between when the motor is running and when the motor speed reaches
30 mm/s or less. Once the motor reaches 30 mm/s or less and moves to the after-stop status, subsequent
operation is based on the after-stop status regardless of the motor speed.
*2 “Immediate Stop” means that the motor stops immediately by using controls while the servo is kept ON. The
force command value at this time is restricted by the Immediate Stop Force (3511 hex).
*3 When the error is cleared, a process which makes the Position demand value follow the Position actual value
comes into effect. To operate in cyclic sync mode (csp) after the servo turns ON, reset the command
coordinates in the host controller and then execute the operation. The motor may move suddenly.
Precautions for Correct UsePrecautions for Correct Use
• Position control is forced into operation during deceleration and after the motor has stopped
(main power supply OFF). The internal position command generation process is also forced to
stop.
• If an error occurs while the main power supply is OFF, operation will follow the Fault reaction
option code (605E hex).
• If the main power supply turns OFF while the Servo is ON and the Undervoltage Error
Selection (3508 hex) is set to 1, a Main Power Supply Undervoltage (Error No. 13.1) will occur.
Operation will then follow the Fault reaction option code (605E hex). The default value of the
Undervoltage Error Selection (3508 hex) is 1.
605B hex
Shutdown option code
Range 5 to 0 Unit  Default 1 Attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible
Set value
Decelerating
*1
After stopping
Deceleration method Error Operation after stopping Error
-5
Immediate Stop
*2
Immediate Stop Force = 3511 hex
Clear
*3
Free
Clear
*3
-4
Immediate Stop
*2
Immediate Stop Force = 3511 hex
Clear
*3
Dynamic brake operation
Clear
*3
-3 Dynamic brake operation
Clear
*3
Free
Clear
*3
-2 Free-run
Clear
*3
Dynamic brake operation
Clear
*3
-1 Dynamic brake operation
Clear
*3
Dynamic brake operation
Clear
*3
0Free-run
Clear
*3
Free
Clear
*3
All

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English