A-59
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This object sets the operation of the G5-series Servo Drive during Disable operation (transition from
the operation enable state to the switched on state). "During Disable operation" refers to the duration
in which the G5-series Servo Drive decelerates and then stops after Servo OFF (Disable operation).
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 execute interpolation feeding commands after the servo turns ON, reset the command
coordinates in the host controller before executing them. 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
(during servo OFF). The internal position command generation process is also forced to stop.
• If an error occurs while the servo is OFF, operation will follow the Fault reaction option code
(605E hex).
• If the main power supply turns OFF while the servo is OFF, the Shutdown option code
(605B hex) will be followed.
• This object sets the stop method when bit 8 (Halt) in Controlword (6040 hex) is set to 1 during the
Homing mode (hm).
605C hex
Disable operation option code
Range −5 to 0 Unit − Default −1 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
-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
605D hex
Halt option code
Range 1 to 3 Unit − Default 1 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
All
pp
hm
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