Omron R88D-KN01L-ECT-L User Manual page 318

9 Servo Parameter Objects
Stop Selection for Drive Prohibition Input
3505 hex
Setting 0 to 2
range
Size 2 bytes (INT16)
• Set the drive conditions during deceleration and after stopping, when the Positive or Negative Drive
Prohibition Input is enabled.
Explanation of Settings
3504 hex set
3505 hex set
*1
value
0
*1 If the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error No. 38.0) will
occur as soon as either the Positive or Negative Drive Prohibition Input becomes open. Therefore, regardless
of the set value, the subsequent operation will be performed according to the setting of the Fault reaction
option code (605E hex). In the same way, the Fault reaction option code (605E hex) takes priority when any
other error occurs.
*2 The term "During deceleration" shows the distance until the motor decreases its speed to 30 mm/s or less from
the normal operation. Once it decelerates to 30 mm/s or lower speed, the operation conforms to the
description for "after stopping," regardless of the actual speed.
*3 "Immediate Stop" means that the Linear Motor stops immediately by using controls while the servo is kept ON.
The force command value at this time is controlled by the Immediate Stop Force (3511 hex) set value.
Precautions for Correct Use Precautions for Correct Use
• An immediate stop forces the motor to decelerate quickly, which momentarily causes a large
position error in position control. This may result in an Error Counter Overflow (Error No. 24.0)
or an Overrun Limit Error (Error No. 34.0). If an error occurs, set the Following error window
(6065 hex) and the Overrun Limit Setting (3514 hex) to appropriate values.
• A Command Warning (Warning No. B1 hex) will occur if a command is given in the drive
prohibition direction while the motor is stopped (or decreased the speed to 30 mm/s or lower)
and the Drive Prohibition Input is ON.
For details, refer to 7-2 Positive and Negative Drive Prohibition Functions on page 7-8.
9 - 42
Unit
Access
Decelerating
value
Deceleration
method
0 Dynamic brake
1 Free-run
2 Immediate
*3
stop
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
– Default
setting
RW
*2
(Approx. 30 mm/s or less)
Operation after
Error counter
stopping
Clear Force command is 0
for drive prohibition
direction
Clear Force command is 0
for drive prohibition
direction
Clear Force command and
force limit are as
specified.
A l l
0 Data
attribute
PDO map Not possible
After stopping
Error counter
Hold
Hold
Cleared after
deceleration
completes, then
Hold.
C