6.3Deceleration stop sequence
6.3.4 Sequence at alarm
Set the operation sequence at the alarm with the exception of the communication related alarm (Err80.*,
Err81.*, Err85.*, Err88.*).
Communication related alarms (Err80.*, Err81.*, Err85.*, Err88.*) information, set by 605Eh/685Eh (Fault
reaction option code).
Please refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)" for
details.
Relevant parameters
Relevant parameters
Class No. Attribute Title
5
10
B
Contents
Details of Pr 5.10 (Sequence at alarm)
Pr 5.10
During deceleration (Note 4)
Stopping method
Forcibly controls the position. (Note 1)
Common
Forcibly stops position command generation.
(Note 1)
Dynamic brake (DB) (Note 6)
0
Free run (DB OFF)
1
Dynamic brake (DB) (Note 6)
2
Free run (DB OFF)
3
Emergency stop (Note 3) (Note 5)
4
Action A
(Note3)
Torque limit =Pr 5.11
Dynamic brake (DB) (Note 6)
Action B
(Note3)
Emergency stop (Note 3) (Note 5)
5
Action A
(Note3)
Torque limit =Pr 5.11
Free run (DB OFF)
Action B
(Note3)
Emergency stop (Note 3) (Note 5)
6
Action A
(Note3)
Torque limit =Pr 5.11
Dynamic brake (DB) (Note 6)
Action B
(Note3)
Emergency stop (Note 3) (Note 5)
7
Action A
(Note3)
Torque limit =Pr 5.11
Free run (DB OFF)
Action B
(Note3)
(Note 1) During deceleration sequence or at the stop (during alarm or servo OFF), the system must control the position and stop the
generation of internal position command.
(Note 2) During deviation clearing process, the system causes the internal command position to follow up the feedback position. When
executing the interpolation feed system command after servo ON, first re-set the command coordinate of the host controller. The
motor may operate sharply..
(To be continued)
6-3
Range
Sequence at alarm 0 to 7
Unit
Function
-
Specify the status during deceleration and after stop, after
occurrence of alarm.
After stalling (Approx. 30 r/min or below)
Deviation Operation after stopping
Forcibly controls the position. (Note 1)
-
Forcibly stops position command
generation. (Note 1)
Dynamic brake (DB) (Note 6)
Clear
(Note 2)
Dynamic brake (DB) (Note 6)
Clear
(Note 2)
Free run (DB OFF)
Clear
(Note 2)
Free run (DB OFF)
Clear
(Note 2)
Dynamic brake (DB) (Note 6)
Clear
(Note 2)
Clear
(Note 2)
Dynamic brake (DB) (Note 6)
Clear
(Note 2)
Clear
(Note 2)
Free run (DB OFF)
Clear
(Note 2)
Clear
(Note 2)
Free run (DB OFF)
Clear
(Note 2)
Clear
(Note 2)
Deviation
-
Clear
(Note 2)
Clear
(Note 2)
Clear
(Note 2)
Clear
(Note 2)
Clear
(Note 2)
Clear
(Note 2)
Clear
(Note 2)
Clear
(Note 2)