Omron OMNUC G5 Series User Manual page 226

6-7 Object Dictionary
Fault reaction option code
605E hex
Range
Size
This object sets the behavior when an error occurs.
Description of Set Values
Set
value
6
*1. Decelerating is the time between when the motor is running and when the motor speed reaches
*2. Operation A and B indicate whether or not to stop immediately when an error occurs. If this value is
*3. When the error is cleared, a process which makes the Position demand value follow the Position
Position control is forced into operation during deceleration and after the motor has stopped
(during an error or when the servo is OFF). The internal position command generation process
is also forced to stop.
6-41
−7 to 0
2 bytes (INT16)
Decelerating
Deceleration method
Immediate Stop
*2
Operation A Immediate Stop Torque =
−7
3511 hex
*2
Operation B Free-run
Immediate Stop
*2
Operation A Immediate Stop Torque =
−6
3511 hex
*2
Operation B Dynamic brake operation
Immediate Stop
*2
Operation A Immediate Stop Torque =
−5
3511 hex
*2
Operation B Free-run
Immediate Stop
*2
Operation A Immediate Stop Torque =
−4
3511 hex
*2
Operation B Dynamic brake operation
−3 Dynamic brake operation
−2 Free-run
−1 Dynamic brake operation
0 Free-run
30 r/min or less. Once the motor reaches 30 r/min or less and moves to the after-stop status,
subsequent operation is based on the after-stop status regardless of the motor speed.
set to between 4 and 7, the motor is stopped immediately when a specified error occurs as indicated
by operation A. If an error occurs that is not subject to this function, an immediate stop is not applied
and dynamic braking is applied or the motor is left to run free as indicated by operation B.
For details on errors, refer to Troubleshooting on page 12-7.
actual value comes into effect. To operate in cyclic sync mode (csp) after the servo turns ON, reset
the command coordinates in the host controller and then execute the operation. The motor may move
suddenly.
Precautions for Correct Use
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
−
Unit Default
Access RW
*1
Error
*2
Clear
*2
Clear
*2
Clear
*2
Clear
Clear
Clear
Clear
Clear
−1
Attribute
PDO map Not possible
After stopping
Operation after stopping
*3
Free
*3
Free
*3
Dynamic brake operation
*3
Dynamic brake operation
*3
Free
*3
Dynamic brake operation
*3
Dynamic brake operation
*3
Free
All
B
Error
*3
Clear
*3
Clear
*3
Clear
*3
Clear
*3
Clear
*3
Clear
*3
Clear
*3
Clear