Omron R88D-KN series User Manual page 412

Appendicies
 (c) Example of Servo OFF during Operation in cst
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 (cst) 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.
*4 The mode shown in 6061 hex is forced to "0" because the mode shown in 6061 hex is different from the mode
of operation.
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-12
*1
A
Servo ON
Actual speed
30 mm/s
PDS state Operation enabled
6060 hex
6061 hex
cst
6041 hex: Bit 9
(Remote)
1
0
4000 hex: Bit 1
0
(DEN)
4000 hex: Bit 4
0/1
(VLIM)
4000 hex: Bit 7
(VCMP)
4000 hex: Bit 8
0
(NEAR)
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Servo OFF
*2
B
Switched on
cst
No mode assigned
1
0
*3
0 0
*4
0 0
*4
0 1
*4
0 0
0
*4
0 1