Changes Made To The Driver Alarm Input Stop Method - Omron CS1W-MC221 - 02-2008 Operation Manual

Stopping
Method
Servo Unlock
Emergency Stop
CCW, CW Limit Inputs
Software Limit ON
Other errors
Speed
Speed
Operation
command
output to
servo driver

6-21-1 Changes Made to the Driver Alarm Input Stop Method

Specifications before
Change
Activation timing
Upon input.
Upon input.
Upon input.
When a software limit is
exceeded.
Refer to SECTION 12 Troubleshooting.
Deceleration stop
Decelerates to a stop at the
ratio of the maximum feed
rate and the deceleration
time.
Servo-unlock
Outputs 0 V for 5 s, and
then turns OFF the
operation command
output to the servo driver.
Feedback control is not performed while outputting 0 V and while waiting for
the brake to turn ON after outputting 0 V. It is thus possible that the axis will be
rotating. (Feedback control is performed while waiting for the brake to turn ON
for a servo unlock command, and thus the axis will not rotate.)
The method used to stop the servomotor when an error occurs at the servo
driver and a driver alarm input error (error code: 003C) is generated, has been
changed in the following way. The change is effective for models with -E9 at
the end of the lot number, and for models with lot numbers 991118 or later.
After the driver alarm input signal is received, brake output and RUN com-
mand output are turned OFF with the following timing. Brake output and RUN
The servo is unlocked upon input.
During program operation, the servo will be unlocked for the
specified axis and the other axes in the same task will be
decelerated to a stop.
Each axis is stopped immediately upon input.
There are two methods for stopping: accumulated-pulse stop
and servo-off stop. The selection is made in the system
parameters.
Each axis is stopped immediately upon input.
There are two methods for stopping: accumulated-pulse stop
and servo-unlock stop. The selection is made in the system
parameters.
Each axis is decelerated to a stop when a software limit is
exceeded.
During interpolation operations, axis operation is stopped after
moving from the interpolation locus.
Speed
Time
Time
Section 6-21
Remarks
Accumulated-pulse stop
Deletes the accumulated
pulses in the error counter
and stops operation.
Time
373