Appendicies
A-2
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
This section describes the profile that is used to control the Servo Drive.
The state of G5-series Servo Drives with built-in EtherCAT communications is called "PDS state." The
PDS state is controlled by the Controlword (6040 hex).
The Status word (6041 hex) is displayed in each PDS state.
The state of an G5-series Servo Drive changes as shown below.
Each box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
For details on the states, refer to State Descriptions on page A-3 and Command Coding on page A-3.
Note 1 Quick stop active state is not supported. Even if a Quick stop command is received, it will be ignored.
A-1-1 Controlling the State Machine of the Servo Drive
State Machine
Not ready to switch on
1: After initialization is completed
Start
ON
ON
ON
ON
ON ON
OFF
OFF
ON
or
OFF
Switch on
disabled
Fault
Shutdown: 2
7: Disable Voltage
Ready to
switch on
Switch on: 3
Switched on
6: Shutdown
Disable Voltage: 10
Enable operation: 4
5: Disable
operation
15: Fault reset
Operation enabled
8: Shut down
9: Disable Voltage
13: Error occurs
Fault reaction
active
14: Error
response
operation
completed
Power turned OFF or Reset
0: After the control power is turned ON
Control
circuit
power
supply
Main
circuit
power
supply
Servo
ON/OFF
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