Omron R88M-K - Page 610

Appendices
A-60
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
• This object sets the behavior when an error occurs.
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 Operation A and B indicate whether or not to stop immediately when an error occurs. If this value is set to
between 4 and 7, the motor is stopped immediately when a specified error occurs as indicated by operation A.
If an error occurs that is not subject to this function, an immediate stop is not applied and dynamic braking is
applied or the motor is left to run free as indicated by operation B.
For details on errors, refer to Errors on page 12-9.
*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
(during an error or when the servo is OFF). The internal position command generation process is
also forced to stop.
605E hex
Fault reaction option code
Range −7 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
−7
Operation A
*2
Immediate Stop
*2
Immediate Stop Torque = 3511 hex
Clear
*3
Free
Clear
*3
Operation B
*2
Free-run
−6
Operation A
*2
Immediate Stop
*2
Immediate Stop Torque = 3511 hex
Clear
*3
Free
Clear
*3
Operation B
*2
Dynamic brake operation
−5
Operation A
*2
Immediate Stop
*2
Immediate Stop Torque = 3511 hex
Clear
*3
Dynamic brake operation
Clear
*3
Operation B
*2
Free-run
−4
Operation A
*2
Immediate Stop
*2
Immediate Stop Torque = 3511 hex
Clear
*3
Dynamic brake operation
Clear
*3
Operation B
*2
Dynamic brake operation
−3 Dynamic brake operation
Clear
*3
Free
Clear
*3
−2Free-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