9-33
9-6 Extended Objects
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
 Set the drive conditions during deceleration and after stopping, when the Forward or Reverse
Drive Prohibition Input is enabled.
 Refer to 7-2 Forward and Reverse Drive Prohibition Functions on page 7-6.
Explanation of Set Values
*1. If the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error No.
38.0) will occur as soon as either the Forward or Reverse Drive Prohibition Input turns ON. The
subsequent operation conforms not to the set value, but to the setting of the Fault reaction option code
(605E hex). In the same way, the Fault reaction option code (605E hex) takes priority when any other
error occurs.
*2. The term "During deceleration" means the distance until the motor decreases its speed to 30 r/min or
less from the normal operation. Once it decelerates to 30 r/min or lower speed, the operation
conforms to the description for "after stopping", regardless of the actual speed.
*3. "Immediate Stop" means that the Servomotor stops immediately by using controls while the servo is
kept ON. The torque limit at this time is controlled by the Immediate Stop Torque (3511 hex) set value.
Precautions for Correct Use
 At an immediate stop, an Error Counter Overflow Error (Error No. 24.0) or an Overrun Limit Error
(Error No. 34.0) may occur. This is because the immediate stop forces the motor to decelerate
quickly, and the position control creates a large position error momentarily. If an error occurs, set
the Following error window (6065 hex) and the Overrun Limit Setting (3514 hex) to appropriate
values.
 A Command Warning (Warning No. B1 hex) will occur if a command is given in the drive prohibition
direction while the Servomotor is stopped (or decreased the speed to 30 r/min or lower) and the
Drive Prohibition Input is ON.
3505 hex
Stop Selection for Drive Prohibition Input
Setting
range
0 to 2 Unit −
Default
setting
0
Data
attribute
C
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
Set value of
3504 hex
*1
Set value of
3505 hex
Decelerating
*2
After stopping
Deceleration
method
Error
counter
Operation after stopping
0
0
Dynamic brake Cleared Torque command in drive-
prohibited direction = 0
1
Free-run Cleared Torque command in drive-
prohibited direction = 0
2
Immediate stop
*3
Cleared The torque command and torque
limits will be as specified.
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