Stop Settings; Position Mode - Electronic Gear - Leadshine EL8-EC Series User Manual

5.4.4 Stop Settings

EL8-EC provides quick stop function. Stopping is different under different modes.
Controlled by using object dictionary 605A.
Name
Index
605Ah
Access
Motor stops when quick stop command is given.
PP, CSP, CSV, PV
0 ：To stop motor through Pr5.06. Status: Switch on disable, axis disabled.
1 ：Motor decelerates and stops through 6084h. Status: Switch on disable, axis disabled.
2 ：Motor decelerates and stops through 6085h. Status: Switch on disable, axis disabled.
3 ：Motor decelerates and stops through 60C6h. Status: Switch on disable, axis disabled.
5 ：Motor decelerates and stops through 6084h. Status: Quick stop
6 ：Motor decelerates and stops through 6085h. Status: Quick stop
7 ：Motor decelerates and stops through 60C6h. Status: Quick stop
HM
0 ：To stop motor through Pr5.06. Status: Switch on disable, axis disabled.
1 ：Motor decelerates and stops through 609Ah. Status: Switch on disable, axis disabled.
2 ：Motor decelerates and stops through 6085h. Status: Switch on disable, axis disabled.
3 ：Motor decelerates and stops through 60C6h. Status: Switch on disable, axis disabled.
5 ：Motor decelerates and stops through 609Ah. Status: Quick stop
6 ：Motor decelerates and stops through 6085h. Status: Quick stop
7 ：Motor decelerates and stops through 60C6h. Status: Quick stop
CST
0 ：To stop motor through Pr5.06. Status: Switch on disable, axis disabled.
1, 2 ：Motor decelerates and stops through 6087h. Status: Switch on disable, axis disabled.
3 ：Motor decelerates and stops through torque = 0. Status: Switch on disable, axis disabled.
5, 6 ：Motor decelerates and stops through 6087h. Status: Quick stop
7 ：Motor decelerates and stops through torque = 0. Status: Quick stop
When 402 state machine is disabled, the motor will stop freely.
When bit8(Halt) of 6040h is 1, the motor will stop with deceleration set in 6083h/6084h.
5.4.5 Position mode – Electronic Gear
EL8-EC position mode consists of cyclic synchronous position mode (CSP), protocol
position mode (PP) and homing mode (HM), only in these three modes is the electronic
gear valid.
Electronic gear ratio range is 0.001~8000(23-bit encoder), otherwise ErA00 might occur if
over range (the warning is not saved, after modification to a reasonable range, alarm on
operational panel will automatically disappear, but the 402 state will still be in the "error"
state, write 0x80 into 6040h).
Quick stop option code
RW Mapping -
User manual of EL8-EC***F AC Servo
Unit - Structure
Mode ALL Range
VAR Type INT 16
0~7 Default 2
184