Omron R88M-K - Page 608

Appendices
A-58
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
• This object sets the operation of the G5-series Servo Drive during Shutdown (transition from the
operation enable state to the ready to switch state).
"During Shutdown" refers to the duration in which the G5-series Servo Drive decelerates and then
stops after main circuit power OFF (Shutdown).
Description of Set Values
*1 Decelerating is the time between when the motor is running and when the motor speed reaches
30 r/min or less. Once the motor reaches 30 r/min 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 Servomotor stops immediately by using controls while the servo is kept ON.
The torque command value at this time is restricted by the Immediate Stop Torque (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 is 1.
605B hex
Shutdown option code
Range −5 to 0 Unit − Default −1AttributeB
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 Torque = 3511 hex
Clear
*3
Free
Clear
*3
-4
Immediate Stop
*2
Immediate Stop Torque = 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