Omron R88M-K - Page 563

A-13
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
4) Example of Servo OFF during Operation in hm
*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 (hm) specified in 6060 hex.
*2 After the motor stops, No mode assigned is shown by 6061 hex.
*3 Bits 12 and 13 will retain the preceding values during deceleration when the servo is turned OFF.
Note The operation during the interval from A to B for main circuit power OFF is the same as when the servo is
turned OFF. The stop function due to drive prohibition is disabled during the homing operation in hm mode.
Servo OFF
6061 hex
Servo ON
30 r/min
hm
Actual speed
Operation enabled Switched on
No mode assigned
0
6060 hex
hm
4000 hex: Bit 7
(VCMP)
4000 hex: Bit 8
(NEAR)
1
01
0
0
(Home attained)
0/1
0
0
1
0/1
0/1
*3
*1
0/1
(VLIM)
4000 hex: Bit 4
(DEN)
4000 hex: Bit 1
(Homing 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
0/1
*3