Omron R88D-KN01L-ECT-L

A - 61
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-12 Servo Drive Profile Objects
• This object sets the stop method when bit 8 (Halt) in Controlword (6040 hex) is set to “1” during the
Homing mode (hm).
Explanation of Settings
• This object sets the behavior when an error occurs.
Explanation of Settings
605D hex
Halt option code
Setting
range
1 to 3
Unit
–
Default
setting
1 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
Set value Description
1 Profile deceleration (6084 hex)
2 Not supported
3 Immediate stop
605E hex
Fault reaction option code
Setting
range
–7 to 0
Unit
–
Default
setting
–1 Data
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
–7 Operation
A
*2
Immediate Stop
*3
Immediate Stop Force = 3511 hex
Clear
*4
Free
Clear
*4
Operation
B
*2
Free-run
Clear
*4
–6 Operation
A
*2
Immediate Stop
*3
Immediate Stop Force = 3511 hex
Clear
*4
Free
Clear
*4
Operation
B
*2
Dynamic brake operation
Clear
*4
–5 Operation
A
*2
Immediate Stop
*3
Immediate Stop Force = 3511 hex
Clear
*4
Dynamic brake operation
Clear
*4
Operation
B
*2
Free-run
Clear
*4
–4 Operation
A
*2
Immediate Stop
*3
Immediate Stop Force = 3511 hex
Clear
*4
Dynamic brake operation
Clear
*4
Operation
B
*2
Dynamic brake operation
Clear
*4
–3 Common Dynamic brake operation
Clear
*4
Free
Clear
*4
–2 Common Free-run
Clear
*4
Dynamic brake operation
Clear
*4
–1 Common Dynamic brake operation
Clear
*4
Dynamic brake operation
Clear
*4
0 Common Free-run
Clear
*4
Free
Clear
*4
hm
pp
All