YASKAWA SGD7S-1R9D Product Manual page 456

• Bits 10, 12, and 13: Profile Velocity Mode
Bit State
10 Target reached
12 Speed
−
13
• Bits 10, 12, and 13: Profile Torque Mode
Bit State
10 Target reached
−
12
−
13
Quick Stop Option Code (605A Hex)
This object determines what operation will be performed if a Quick Stop is executed.
Subin-
Index
dex
Quick stop option
605A hex 0
code
 Data Description
Value
0 Disables the Servo Drive (moves to the Switch ON Disabled state).
Decelerates at the deceleration rate for decelerating to a stop and moves
1
to the Switch ON Disabled state.
Decelerates at the deceleration rate for a quick stop and moves to the
2
Switch ON Disabled state.
Decelerates at the torque limit and moves to the Switch ON Disabled
3
*1
state.
*1.
The motor is always stopped according to option code 0 (servo OFF stop) in Profile Torque Mode or Cyclic
Torque Mode.
*2.
The deceleration rate for decelerating to a stop is defined in the following object.
• Profile Position, Interpolated Position, Cyclic Position, or Cyclic Velocity Mode: 6084 Hex
• Homing Mode: 609A Hex
*3.
Quick stop deceleration (6085 hex) is the deceleration rate for a quick stop.
Shutdown Option Code (605B Hex)
This object defines the operation that is performed if there is a move from Operation Enable
state to Ready to Switch ON state.
Subin-
Index
dex
605B hex 0 Shutdown option code
Value
Halt (bit 8 in controlword) = 0: The target speed has not been reached.
0
Halt (bit 8 in controlword) = 1: The axis is decelerating.
Halt (bit 8 in controlword) = 0: The target speed was reached.
1
Halt (bit 8 in controlword) = 1: The axis is stopped.
0 The speed is not 0.
1 The speed is 0.
0 Reserved.
Value
Halt (bit 8 in controlword) = 0: The target torque has not been
0
Halt (bit 8 in controlword) = 1: The axis is decelerating.
Halt (bit 8 in controlword) = 0: The target torque was reached.
1
Halt (bit 8 in controlword) = 1: The axis is stopped.
0 Reserved.
0 Reserved.
Data
Name Access
Type
INT
Description
*1, *2
*1, *3
Data
Name Access
Type
INT
Description
Description
reached.
PDO
Value
Mapping
RW No 0 to 4 (default: 2)
PDO
Value
Mapping
RW No 0 to 1 (default: 0)
14.6 Device Control
Saving to
EEPROM
Yes
Saving to
14
EEPROM
Yes
14-25