Omron R88D-KN series User Manual page 460

Appendicies
*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 12-7.
*3 "Immediate Stop" means that the motor stops immediately by using controls while the servo is kept ON. The
force command value at this time is restricted by the Immediate Stop Force (3511 hex).
*4 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 Use Precautions 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.
Modes of operation
6060 hex
Range 0 to 10
Size 1 byte (INT8)
• This object sets the operation mode.
• The default value is 0 (Not specified). Set the operation mode from the master after the power supply
is turned ON.
• A Command Warning (Error No. B1 hex) occurs if the servo is turned ON (Operation enabled = 1)
with the default setting of 0 (Not specified).
• Even when the default value (0: Not specified) is set again after changing the mode of operation, the
mode of operation does not return to "Not specified." The previous mode of operation is retained.
• Similarly, when an unsupported mode of operation is set, the previous mode is retained.
• When an unsupported mode of operation is set using SDO mailbox communications, an ABORT
code is returned.
Description of Settings
Code
0 Not specified
1
Profile position mode (pp)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
9 Cyclic synchronous velocity mode (csv)
10 Cyclic synchronous torque mode (cst)
For details about changing the modes of operation, refer to A-1-5 Changing the Mode of Operation on
page A-7.
Modes of operation display
6061 hex
Range 0 to 10
Size 1 byte (INT8)
• This object gives the present operation mode.
• The value definitions are the same as for the Modes of operation (6060 hex).
A-60

Unit
Access
Description

Unit
Access
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Default 0
RW PDO map
Default 0
RO PDO map
All
Attribute A
Possible
All

Attribute
Possible