A-59
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1
CiA402 D
ri
ve Pr
ofile
App
A-1
-12 Ser
v
o Dr
iv
e Profile Object
•
This object sets the stop method when bit 8 (Halt) in Controlword (6040 hex) is set to 1 during the
Homing mode (hm).
Description of Settings
•
This object sets the behavior when an error occurs.
Description of Settings
*1
Decelerating is the time between when the motor is running and when the motor speed reaches
30 mm/s or less. Once the motor reaches 30 mm/s or less and moves to the after-stop status, subsequent
operation is based on the after-stop status regardless of the motor speed.
605D hex
Halt option code
Range
1 to 3
Unit
Default
1
Attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
Set value
Description
1
Profile deceleration (6084 hex)
2
Not supported
3
Immediate stop
605E hex
Fault reaction option code
Range
7 to 0
Unit
Default
1
Attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
Set
value
Decelerating
*1
After stopping
Deceleration method
Error
Operation after
stopping
Error
7
Operation A
*2
Immediate Stop
*3
Immediate Stop Force = 3511 hex
Clear
*4
Free
Clear
*4
Operation B
*2
Free-run
6
Operation A
*2
Immediate Stop
*3
Immediate Stop Force = 3511 hex
Clear
*4
Free
Clear
*4
Operation B
*2
Dynamic brake operation
5
Operation A
*2
Immediate Stop
*3
Immediate Stop Force = 3511 hex
Clear
*4
Dynamic brake operation
Clear
*4
Operation B
*2
Free-run
4
Operation A
*2
Immediate Stop
*3
Immediate Stop Force = 3511 hex
Clear
*4
Dynamic brake operation
Clear
*4
Operation B
*2
Dynamic brake operation
3
Dynamic brake operation
Clear
*4
Free
Clear
*4
2
Free-run
Clear
*4
Dynamic brake operation
Clear
*4
1
Dynamic brake operation
Clear
*4
Dynamic brake operation
Clear
*4
0
Free-run
Clear
*4
Free
Clear
*4
pp
hm
All