Omron R88D-KN01L-ECT-L User Manual page 458

Appendices
(c) Example of Servo OFF during Operation in cst
Actual speed
PDS state
6060 hex
6061 hex
6041 hex: Bit 9
(Remote)
6041 hex: Bit 10
(Target reached)
6041 hex: Bit 12
(Target position ignored)
6041 hex: Bit 13
(Following error)
4000 hex: Bit 1
4000 hex: Bit 4
4000 hex: Bit 7
4000 hex: Bit 8
*1 When the servo is turned OFF, a deceleration stop starts and 6061 hex continues to show the same mode as
the mode of operation (cst) specified in 6060 hex.
*2 After the motor stops, No mode assigned is shown by 6061 hex.
*3 Bit 12 will be "0" during a deceleration due to servo OFF.
*4 The mode shown in 6061 hex is forced to "0" because the mode shown in 6061 hex is different from the mode
of operation.
Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as
when the servo is turned OFF.
A - 12
*1
A
Servo ON
30 mm/s
Operation enabled
cst
*3
1 0
*4
0 0
*4
0 0
(DEN)
*4
0/1 0
(VLIM)
(VCMP)
*4
0 0
(NEAR)
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Servo OFF
*2
B
Switched on
cst
No mode assigned
1
0
0
0
1
0
0
1