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2 CONTROL MODE
2.1 Control mode [G]
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary or are common depending on the control mode.
The bits that vary depending on the control mode are listed in the following tables.
■Controlword OMS Bit (jg)
■Statusword OMS Bit (jg)
Bit Symbol Description
4 Rotation start 0: Servo motor stop
1: Servo motor start
5 Direction 0: Forward rotation (Address increasing)
1: Reverse rotation (Address decreasing)
6 (reserved) The value at reading is undefined. Set "0" when writing.
8 HALT 0: Performs positioning.
1: Stops the servo motor according to [Halt option code (Obj. 605Dh)].
9 (reserved) The value at reading is undefined. Set "0" when writing.
Bit Symbol Description
10 Target reached 0 (Halt (Bit 8) = 0) : Target position not reached.
0 (Halt (Bit 8) = 1) : Axis decelerates
1 (Halt (Bit 8) = 0) : Target position reached.
1 (Halt (Bit 8) = 1) : Velocity of axis is 0
Judgment condition of Target position reached
When the difference between the current position and command position has stayed within [Position window
(Obj. 6067h)] for [Position window time (Obj. 6068h)] or longer, the state becomes "Target position reached".
12 (reserved) The value at reading is undefined.
13 Following error 0: No following error
1: Following error
Judgment condition of Following error:
When the time set in [Following error time out (Obj. 6066h)] elapses in a state where [Following error actual value
(Obj. 60F4h)] exceeds the value set in [Following error window (Obj. 6065h)], this bit changes to "1".
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