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Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-1 CiA 402 Drive Profile
A
A-1-1 Controlling the State Machine of the Servo Drive
State is controlled by combining the bits in Controlword (6040 hex) as shown in the following table.
fr = fault reset, eo = enable operation, qs = quick stop, ev = enable voltage, so = switch on
State Descriptions
Status Description
Not ready to switch on The control circuit power supply is turned ON and initialization is in
progress.
Switch on disabled Initialization is completed.
Servo Drive parameters can be set.
Ready to switch on The main circuit power supply can be turned ON.
Servo Drive parameters can be set.
Switched on The main circuit power supply is ON. (Servo ready)
Servo Drive parameters can be set.
Operation enabled The Servo is ON.
Servo Drive parameters can be set.
Fault reaction active There was an error in the Servo Drive and the cause determination
is in progress.
Servo Drive parameters can be set.
Fault There is an error in the Servo Drive.
Servo Drive parameters can be set.
State Control Commands
Command
Controlword bit
Move to
Bit 7
fr
Bit 3
eo
Bit 2
qs
Bit 1
ev
Bit 0
so
Shutdown Disabled Disabled 1 1 0 2, 6, 8
Switch on Disabled 0 1 1 1 3
Switch on +
enable opera-
tion
Disabled 1 1 1 1
3 + 4
*1
*1. The state automatically moves to Operation enabled state after Switched On state.
Disable volt-
age
Disabled Disabled Disabled 0 Disabled 7, 9, 10
Quick stop Disabled Disabled 0 1 Disabled
Disabled
*2
*2. Quick stop commands are not supported. Even if this command is received, it will be ignored.
Disable oper-
ation
Disabled 0 1 1 1 5
Enable opera-
tion
Disabled 1 1 1 1 4
Fault reset
0 → 1
*3
*3. Bit 7: Operation when the Fault Reset bit turns ON
Fault state : Errors are reset and the Servo Drive returns to the Switch On Disabled state.
: If Warning (6041 hex: Statusword bit 7) is ON, it is reset.
State other than Fault State : If Warning (6041 hex: Statusword bit 7) is ON, it is reset.
: The state will change according to command bits 0 to 3.
Disabled Disabled Disabled Disabled 15
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