Omron R88L-EC Series User Manual page 458

Appendices
Changing the Control Mode under Warning Conditions
The operation when there is a Data setting warning or Command warning is different depending on the
control mode as follows.
 Changing to csp, csv, or cst
If there is a warning for the related data, you cannot change to csp, csv, or cst. The current operation
mode is maintained.
 Changing to hm and pp
The operation mode changes even when there is a warning for the related data.
For the hm mode, a homing error occurs instead of a warning.
Changing the Control Mode to pp or hm Mode When the Motor Is
Running
If the rising edge of the Controlword (6040 hex) bit 4 (start bit) is not detected when the control mode is
changed to pp or hm mode while the Motor is running, the motor will stop differently depending on
whether the Halt bit is ON or OFF.
• When the Halt bit is OFF, the motor comes to an immediate stop.
• When the Halt bit is ON, the motor performs the stop operation according to the setting of the Halt
option code (605D hex).
Precautions for Correct Use Precautions for Correct Use
Precautions in hm Mode
• If you change the control mode to hm mode during motor operation, the Motor will disable the
stop process using drive prohibition. Therefore, regardless of the detection of the rising edge
of the Controlword (6040 hex) bit 4 (start bit), the Motor will momentarily fall in an immediate
stop state. However, when the Halt bit is ON, the Motor stops according to the setting of the
Halt option code (605D hex).
• If you change to another operation mode during homing operation in hm mode, the operation
will continue for approximately 2 ms, but the stop operation for drive prohibition will not be
executed. Therefore, change the control mode with the Motor stopped after homing is attained.
A - 8 G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications