Omron R88M-K User Manual page 364

7 Applied Functions
*2 The term "During deceleration" means the distance until the motor decreases its speed to 30 r/min or less from
the normal operation. Once it decelerates to 30 r/min or lower, the operation conforms to the description for
"post-stopping", regardless of the actual motor speed.
*3 "Immediate Stop" means that the Servomotor stops immediately by using controls while the servo is kept ON.
The torque limit at this time is controlled by the Immediate Stop Torque (3511 hex) set value.
POT or NOT opens.
Precautions for Correct Use Precautions for Correct Use
• At an immediate stop, an Error Counter Overflow (Error No. 24.0) or an Overrun Limit Error
(Error No. 34.0) may occur. This is because the immediate stop forces the motor to decelerate
quickly, and the position control creates a large position error momentarily. If an error occurs,
set the Following error window (6065 hex) and the Overrun Limit Setting (3514 hex) to
appropriate values.
• A load on the vertical axis and so forth may fall due to its own weight in the drive prohibition
input state. To prevent the load from falling, set deceleration with the immediate stop torque
and stopping with a servo lock (set value: 2) in the Stop Selection for Drive Prohibition Input
(3505 hex), or limit the operation using the Host Controller rather than using this function.
• A Command Warning (Warning No. B1 hex) will occur if a command is given in the drive
prohibition direction while the Servomotor is stopped (i.e., decreases the speed to 30 r/min or
lower) and the Drive Prohibition Input is open.
Additional Information
While the Forward Drive Prohibition Input (POT) is open, the Servomotor cannot be driven in the
forward direction, but it can be driven in the reverse direction. Conversely, while the Reverse
Drive Prohibition Input (NOT) is open, the Servomotor cannot be driven in the reverse direction,
but it can be driven in the forward direction.
Immediate Stop Torque (3511 Hex)
This is the torque limit when the Stop Selection for Drive Prohibition Input (3505 hex) is set to 2, and the
Servomotor decelerates due to a drive prohibition input.
The settable range is 0 to 500% in units of 0.1%. When it is set to 0%, the normal torque limit is used.
7-10
Stop Selection for Drive
Prohibition Input (3505 hex)
Decelerate with dynamic brake
0
1
Decelerate in the free-run status
2
Stop with Immediate Stop
Torque (3511 hex)
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Deceleration method Stop status
Servo free
Servo locked