Omron R88M-K - Page 561

A-11
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-5 Changing the Mode of Operation
2) Example of Servo OFF during Operation in csv
*1 When the servo is turned OFF, a deceleration stop starts and 6061 hex continues to show the same mode as
the mode of operation (csv) specified in 6060 hex.
*2 After the motor stops, No mode assigned is shown by 6061 hex.
*3 Bit 12 will be 0 during a deceleration due to servo OFF.
*4 The mode shown in 6061 hex is forced to 0 because the mode shown in 6061 hex is different from the mode of
operation.
Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as
when the servo is turned OFF.
Servo OFF
6061 hex
Servo ON
30 r/min
csv
Actual speed
Operation enabled Switched on
No mode assigned
0
6060 hex
csv
4000 hex: Bit 7
(VCMP)
0
4000 hex: Bit 8
(NEAR)
1
01
0
(Target velocity ignored)
10
0
1
0
0
*3
*1
0
0/1
(VLIM)
4000 hex: Bit 4
(DEN)
4000 hex: Bit 1
(Following error)
6041 hex: Bit 13
6041 hex: Bit 12
(Target reached)
6041 hex: Bit 10
6041 hex: Bit 9
(Remote)
PDS state
A
*2
B
0
*4
0
*4
0
*4
0
*4