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Appendices
A - 6
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• If the operation mode is changed to Homing mode during the motor operation, the motor performs
the stop operation according to the setting of
Halt option code
(605D hex).
• If a motion command of Homing mode or Profile position mode is input during a deceleration stop
operation, the motor starts the Homing operation or Profile position operation.
If you change the operation mode to another mode while the motor is performing the homing operation,
a command error will occur.
You can check the actual operation mode from the
Modes of operation display
(6061 hex).
Some of the bits in the
Statusword
(6041 hex) are dependent on the operation mode. Their relation-
ship with
Modes of operation display
(6061 hex) is shown in the following table:
Setting
Operation
Warning
0 (nma)
The current operation
mode is retained.
None
1 (pp), 3 (pv), 6 (hm), 8 (csp), 9 (csv), or 10 (cst)
Changed to the specified
mode.
None
2, 4, 5, or 7
The current operation
mode is retained.
Command Warning
Others
The current operation
mode is retained.
Data Setting Warning
Changing to Homing Mode or Profile Position Mode When the Motor
Is Running
Precautions in Homing Mode
Modes of Operation Display
Bit Displays According to Modes of Operation Display (6061 hex)
Object
(hex)
Bit
Modes of operation display (6061 hex)
Position control
Velocity control
Torque
control
csp
pp
hm
Not
specified
csv
pv
cst
6041
10
Status
toggle
Target
reached
Target
reached
0
Status
toggle
Target
reached
Status
toggle
12
Target
position
ignored
*1
*1. If commands in
Controlword
(6040 hex) are not followed when the Servo is ON, this bit will be
0
(ignored).
For details, see the following
Example of Servo OFF during Operation in
csp
,
csv
, or
cst
.
Acknowl-
edge
Home
attained
0
Target
velocity
ignored
*1
Speed
Target
torque
ignored
*1
13
Following
error
Following
error
Homing
error
0
0
0
0
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
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