Omron R88D-KN01H-ECT-L, Руководство пользователя

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Appendices
A - 10
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
z
(a) Example of Servo OFF during Operation in csp
*1 When the servo is turned OFF, a deceleration stop starts and 6061 hex continues to show the same mode as
the mode of operation (csp) specified in 6060 hex.
*2 After the motor stops, No mode assigned is shown by 6061 hex.
*3 Bit 12 will be “0” during a deceleration due to servo OFF.
Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as
when the servo is turned OFF.
6061 hex
30 mm/s
csp
Operation enabled Switched on
No mode assigned
0
0
6060 hex csp
(VCMP)
(NEAR)
1
0 1
0
(Target position ignored)
1 0
0
1
0/1
0
*3
*1
0/1
(VLIM)
(DEN)
(Following error)
(Target reached)
A
*2
B
(Remote)
6041 hex: Bit 10
6041 hex: Bit 12
6041 hex: Bit 13
4000 hex: Bit 1
4000 hex: Bit 4
4000 hex: Bit 7
4000 hex: Bit 8
Actual speed
Servo ON Servo OFF
PDS state
6041 hex: Bit 9