User Manual Of EL7-EC** AC Servo
164
5.4.4 Stop Settings
EL7-EC provides quick stop function. Stopping is different under different modes.
Controlled by using object dictionary 605A.
Index
605Ah
Name
Quick stop option code
Unit
-
Structure
VAR Type
INT 16
Access
RW
Mapping -
Mode
ALL Range
0~7
Default 2
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 6084. Status: Switch on disable, axis disabled.
2
：
Motor decelerates and stops through 6085. Status: Switch on disable, axis disabled.
3
：
Motor decelerates and stops through 60C6. Status: Switch on disable, axis disabled.
5
：
Motor decelerates and stops through 6084. Status: Quick stop
6
：
Motor decelerates and stops through 6085. Status: Quick stop
7
：
Motor decelerates and stops through 60C6. Status: Quick stop
HM
0
：
To stop motor through Pr5.06. Status: Switch on disable, axis disabled.
1
：
Motor decelerates and stops through 609A. Status: Switch on disable, axis disabled.
2
：
Motor decelerates and stops through 6085. Status: Switch on disable, axis disabled.
3
：
Motor decelerates and stops through 60C6. Status: Switch on disable, axis disabled.
5
：
Motor decelerates and stops through 609A. Status: Quick stop
6
：
Motor decelerates and stops through 6085. Status: Quick stop
7
：
Motor decelerates and stops through 60C6. Status: Quick stop
CST
0
：
To stop motor through Pr5.06. Status: Switch on disable, axis disabled.
1, 2
：
Motor decelerates and stops through 6087. 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 6087. 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
EL7-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), 0.001~to 125(17 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).
