Omron R88D-KN series User Manual page 408

Appendicies
Changing the Control Mode to pp or hm Mode When the Motor Is
Running
If the rising edge of the Controlword (6040 hex) bit 4 (start bit) is not detected when the control mode is
changed to pp or hm mode while the Linear Motor is running, the motor will stop differently depending
on whether the Halt bit is ON or OFF.
• When the Halt bit is OFF, the motor comes to an immediate stop.
• When the Halt bit is ON, the motor performs the stop operation according to the setting of the Halt
option code (605D hex).
Precautions for Correct Use Precautions for Correct Use
Precautions in hm Mode
• If you change the control mode to hm mode during motor operation, the Linear Motor will
disable the stop process using drive prohibition. Therefore, regardless of the detection of the
rising edge of the Controlword (6040 hex) bit 4 (start bit), the Linear Motor will momentarily fall
in an immediate stop state. However, when the Halt bit is ON, the Linear Motor stops
according to the setting of the Halt option code (605D hex).
• If you change to another operation mode during homing operation in hm mode, the operation
will continue for approx. 2 ms, but the stop operation for drive prohibition will not be executed.
Therefore, change the control mode with the Linear Motor stopped after homing is attained.
Modes of Operation Display
The actual mode of operation can be checked from the Modes of operation display (6061 hex).
The display is as follows depending on the state of the Servo Drive:
Servo Drive status
Servo OFF (not operation enabled state)
Servo ON (operation enabled state)
Not following
commands in the
Controlword
(6040 hex) when the
servo is ON
Deceleration stop in progress due to an error
*1 When Drive Prohibition Input Selection (3504 hex) = 0.
*2 The stop process is executed using a deceleration stop command generated independently inside the Servo
Drive.
*3 Applicable when the Undervoltage Error Selection (3508 hex) is set to 0.
*4 The Servo Drive is in a Fault reaction active or Fault state during an error.
A-8
0: Not specified
The value that is shown depends on the setting of Modes of
operation (6060 hex).
*1 The value that is shown depends on the setting of Modes of
Drive prohibition
operation (6060 hex).
Deceleration stop in
progress due to main
*3
circuit power OFF
Deceleration stop in
progress due to Servo
OFF
0: Not specified
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Modes of Operation Display
*2
*4