Omron CJ1W-NC271 - 12-2009, Operation Manual

Page: 316 / 687

288
Limit Input Operations
Section 7-5
the host controller and take measures such as executing a command in
the reverse direction.
(2) The positioning command generation process (positioning operation) in
the Servo Drive will be forcibly stopped after it enters the deceleration
mode. Also, when the deceleration mode is activated during speed con-
trol or torque control, it will switch to position control.
(3) When the Servomotor rotation speed is 30 r/min or less (stopped), the
Servomotor does not enter into deceleration mode even if the drive pro-
hibit input is enabled.
G-series Limit Input Parameters
Pn066 is used to set the stop operation of the Servomotor when a for-
ward/reverse rotation limit is input or a forward/reverse software limit is
reached. The parameter size of Pn066 is the value to be specified when trans-
ferring the Servo Parameter Pn066 including the above settings.
The following table shows the Servomotor stop operations using Pn066 set-
tings.
Note (1) If an operation command in the drive prohibited direction is received
when the torque command of the drive prohibited direction is disabled,
the Servomotor will not operate in the drive-prohibited direction, but the
position deviation will accumulate because the torque command is en-
abled. If drive prohibition is detected, stop the operation command from
the host controller and take measures such as executing a command in
the reverse direction.
(2) The positioning command generation process (positioning operation)
within the Servo Drive will be forcibly stopped after it enters the deceler-
ation mode. Also, when the deceleration mode is activated during speed
control or torque control, it will switch to position control.
Parameter
No.
Parameter name Unit Setting
range
Parameter
size
Default
setting
Pn066 Stop selection for
drive prohibition
input --- 0 to 2 2 0
Pn06E Emergency stop
torque % 0 to 300 2 0
Parameter
No.
Setting During
deceleration
After stopping Deviation counter
Pn066 0 Dynamic brake Disables torque
command in drive
prohibited direction Cleared while
decelerating with
dynamic brake.
Retained after
stopping.
1 Disables torque Disables torque
command in drive
prohibited direction Cleared while
decelerating.
Retained after
stopping.
2 Emergency stop
torque (Pn06E) Servo lock Retained while
decelerating,
cleared upon com-
pletion of decelera-
tion, and retained
after stopping.