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3.14
Quick stop
With Quick stop defined in CiA 402, the servo motor can be stopped by the forced stop deceleration. For details of the forced
stop deceleration, refer to the following.
Page 66 Forced stop deceleration function
When the Quick stop command in [Controlword (Obj. 6040h)] is turned off, the servo motor decelerates to a stop in
accordance with the setting of [Quick stop option code (Obj. 605Ah)], following which the status changes to "Switch On
Disabled" (servo-off).
• This can be used in the cyclic synchronous mode (csp/csv/cst) and the homing mode (hm).
• In the torque mode, the servo motor stops with the dynamic brake without deceleration to a stop.
Objects for setting
Index
Sub
Object
6085h
VAR
605Ah
VAR
The methods and operations supported in [Quick stop option code (Obj. 605Ah)] are shown in the following table.
Setting value
Description
1
csp/csv: The servo motor decelerates to a stop with [Quick stop deceleration (Obj. 6085h)], and the state shifts to "Switch On Disabled".
*1
(Not supported)
cst: The state shifts immediately to "Switch On Disabled", and the servo motor stops with the dynamic brake.
hm: The servo motor decelerates to a stop in accordance with [Homing acceleration (Obj. 609Ah)] and the state shifts to "Switch On
Disabled".
2
In the cyclic synchronous mode (csp/csv) and the homing mode (hm), the servo motor decelerates to a stop with [Quick stop deceleration
(Obj. 6085h)], and the state shifts to "Switch On Disabled".
In the cyclic synchronous torque mode (cst), the state immediately shifts to "Switch On Disabled" and the servo motor stops with the
dynamic brake.
3
The servo motor decelerates by limiting the current, following which the state shifts to "Switch On Disabled".
*1
(Not supported)
4
The servo motor decelerates by limiting the voltage, following which the state shifts to "Switch On Disabled".
*1
(Not supported)
5
After deceleration to a stop, the state remains as "Quick Stop Active". (Servo-on is maintained.)
*1
(Not supported)
6
After deceleration to a stop with [Quick stop deceleration (Obj. 6085h)], the state remains as "Quick Stop Active". (Servo-on is maintained.)
*1
(Not supported)
7
After deceleration by limiting the current, the state remains as "Quick Stop Active". (Servo-on is maintained.)
*1
(Not supported)
8
After deceleration by limiting the voltage, the state remains as "Quick Stop Active". (Servo-on is maintained.)
*1
(Not supported)
*1 Not supported.
Name
Data
Type
Quick stop deceleration
U32
Quick stop option code
I16
Access
Default
Description
rw
100
Deceleration at deceleration to a stop with Quick stop
Unit: ms
rw
2
Refer to the following table for the definition.
3 BASIC FUNCTION
77
3.14 Quick stop
3
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