Omron R88D-KN series User Manual page 410

Appendicies
 (a) Example of Servo OFF during Operation in csp
6041 hex: Bit 10
(Target reached)
6041 hex: Bit 12
(Target position ignored)
6041 hex: Bit 13
(Following error)
*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 (csp) specified in 6060 hex.
*2 After the motor stops, No mode assigned is shown by 6061 hex.
*3 Bit 12 will be "0" during a deceleration due to servo OFF.
Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as
when the servo is turned OFF.
A-10
*1
A
Servo ON
Actual speed
30 mm/s
PDS state Operation enabled
6060 hex
6061 hex
csp
6041 hex: Bit 9
(Remote)
1
0/1
4000 hex: Bit 1
0
(DEN)
4000 hex: Bit 4
(VLIM)
4000 hex: Bit 7
(VCMP)
4000 hex: Bit 8
0/1
(NEAR)
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Servo OFF
*2
B
Switched on
csp
No mode assigned
1
0
*3
0 0
0
1
0
0
1