15.6 Device Control
15-26
Data Description
*1.
The motor is always stopped according to option code 0 (servo OFF stop) in Profile Torque Mode or Cyclic
Torque Mode.
*2.
The deceleration rate for decelerating to a stop is defined in the following object.
•
Profile Position, Interpolated Position, Cyclic Position, or Cyclic Velocity Mode: 6084h
•
Homing Mode: 609Ah
Disable Operation Option Code (605Ch)
This object defines the operation that is performed if there is a move from Operation Enable
state to Switched ON state.
Data Description
*1.
The motor is always stopped according to option code 0 (servo OFF stop) in Profile Torque Mode or Cyclic
Torque Mode.
*2.
The deceleration rate for decelerating to a stop is defined in the following object.
•
Profile Position, Interpolated Position, Cyclic Position, or Cyclic Velocity Mode: 6084h
•
Homing Mode: 609Ah
Halt Option Code (605Dh)
This object defines the operation that is performed if bit 8 (Halt) in
controlword
is active.
Data Description
*1.
If bit 8 (Halt) is 1 in Profile Torque Mode or Cyclic Torque Mode, the torque reference value is reduced to zero.
*2.
The deceleration rate for decelerating to a stop is defined in the following object.
•
Profile Position, Interpolated Position, Cyclic Position, or Cyclic Velocity Mode: 6084h
•
Homing Mode: 609Ah
*3.
Quick stop deceleration
(6085h) is the deceleration rate for a quick stop.
Value
Description
0
Disables the Servo Drive (moves to the Switch ON Disabled state).
1
Decelerates at the deceleration rate for decelerating to a stop and moves to
the Switch ON Disabled state.
*1, *2
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
605Ch
0
Disable operation
option code
INT
RW
No
0 to 1 (default: 1)
Yes
Value
Description
0
Disables the Servo Drive (moves to the Switch ON Disabled state).
1
Decelerates at the deceleration rate for decelerating to a stop and moves to
the Switch ON Disabled state.
*1, *2
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
605Dh
0
Halt option code
INT
RW
No
0 to 4 (default: 1)
Yes
Value
Description
1
Decelerates at the deceleration rate for decelerating to a stop and moves to
the Operation Enabled state.
*1, *2
2
Decelerates at the deceleration rate for a quick stop and moves to the
Operation Enabled state.
*1, *3
3
Decelerates at the torque limit and moves to the Operation Enabled state.
*1