9 Details on Servo Parameter Objects
9-42
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
• Set the drive conditions during deceleration and after stopping, when the Forward or Reverse Drive
Prohibition Input is enabled.
• Refer to 7-2 Forward and Reverse Drive Prohibition Functions on page 7-8.
Explanation of Set Values
*1 f the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error No. 38.0) will
occur as soon as either the Forward or Reverse Drive Prohibition Input turns ON. The subsequent operation
conforms not to the set value, but to the setting of the Fault reaction option code (605E hex). In the same way,
the Fault reaction option code (605E hex) takes priority when any other error occurs.
*2 The term “During deceleration” means the distance until the motor decreases its speed to 30 r/min or less from
the normal operation. Once it decelerates to 30 r/min or lower speed, the operation conforms to the description
for “after stopping”, regardless of the actual speed.
*3 “Immediate Stop” means that the Servomotor stops immediately by using controls while the servo is kept ON.
The torque limit at this time is controlled by the Immediate Stop Torque (3511 hex) set value.
Precautions for Correct UsePrecautions for Correct Use
• At an immediate stop, an Error Counter Overflow Error (Error No. 24.0) or an Overrun Limit
Error (Error No. 34.0) may occur. This is because the immediate stop forces the motor to
decelerate quickly, and the position control creates a large position error momentarily. If an
error occurs, set the Following error window (6065 hex) and the Overrun Limit Setting
(3514 hex) to appropriate values.
• A Command Warning (Warning No. B1 hex) will occur if a command is given in the drive
prohibition direction while the Servomotor is stopped (or decreased the speed to 30 r/min or
lower) and the Drive Prohibition Input is ON.
• Select whether to turn OFF the servo or stop operation with an error when the main circuit power
supply is shut OFF.
Explanation of Set Values
3505 hex
Stop Selection for Drive Prohibition Input
Setting range 0 to 2 Unit − Default setting 0 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value of
3504 hex
*1
Set value of
3505 hex
Decelerating
*2
After stopping
Deceleration method Error counter Operation after stopping
0 0 Dynamic brake Cleared Torque command in drive-
prohibited direction = 0
1 Free-run Cleared Torque command in drive-
prohibited direction = 0
2
Immediate stop
*3
Cleared The torque command and torque
limits will be as specified.
3508 hex
Undervoltage Error Selection
Setting range 0 to 1 Unit − Default setting 1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Explanation
0 The servo is turned OFF based on the setting of the Shutdown option code (605B hex). The servo
is then turned back ON when the main power supply is turned ON.
1 A Main Power Supply Undervoltage Error (Error No. 13.1) occurs and operation stops.
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