7
7-8
7-2 Forward and Reverse Drive Prohibition Functions
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Applied Functions
Precautions for Correct Use
At an immediate stop, an Error Counter Overflow (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 load on the vertical axis and so forth may fall due to its own weight in the drive prohibition input
state. To prevent the load from falling, set deceleration with the immediate stop torque and
stopping with a servo lock (set value: 2) in the Stop Selection for Drive Prohibition Input (3505
hex), or limit the operation using the Host Controller rather than using this function.
A Command Warning (Warning No. B1 hex) will occur if a command is given in the drive
prohibition direction while the Servomotor is stopped (i.e., decreases the speed to 30 r/min or
lower) and the Drive Prohibition Input is open.
Reference
While the Forward Drive Prohibition Input (POT) is open, the Servomotor cannot be driven in
the forward direction, but it can be driven in the reverse direction. Conversely, while the
Reverse Drive Prohibition Input (NOT) is open, the Servomotor cannot be driven in the reverse
direction, but it can be driven in the forward direction.
Immediate Stop Torque (3511 Hex)
This is the torque limit when the Stop Selection for Drive Prohibition Input (3505 hex) is set to
2, and the Servomotor decelerates due to a drive prohibition input.
The settable range is 0 to 500% in units of 0.1%. When it is set to 0%, the normal torque limit
is used.
*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 becomes open. 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, the operation conforms to the
description for “post-stopping”, regardless of the actual motor 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.
Stop Selection for Drive
Prohibition Input (3505 hex)
POT or NOT opens.
Deceleration method
Decelerate with dynamic brake
Decelerate in the free-run status
Stop status
Servo free
Servo locked
0
1
2
Stop with Immediate Stop
Torque (3511 hex)
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