A-9
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-5 Changing the Mode of Operation
Some of the bits in the Statusword (6041 hex) and Statusword 1 (4000 hex) are dependent on the
control mode. Their relationship with Modes of operation display is shown in the following table:
*1 When commands in the Controlword (6040 hex) are not followed when the servo is ON, this bit will be 0
(ignored). For details, see figures (a) to (c) below.
*2 When commands in the Controlword (6040 hex) are not followed when the servo is ON, the preceding value is
retained. For details, see figure (d) below.
*3 When commands in the Controlword (6040 hex) are not followed when the servo is ON, this bit will be 0. For
details, see figures (b) and (c) below.
Bit Displays According to Modes of Operation Display (6061 Hex)
Object Bit
Modes of Operation Display (6061 hex)
Position control mode
Speed
Control
Mode
Force
Control
Mode
csp pp hm
Not
specified
csv cst
6041 hex 10 0 Target
reached
Ta rge t
reached
000
12 Target
position
ignored
*1
Acknowledge
Home
attained
*2
0 Target
velocity
ignored
*1
Target
torque
ignored
*1
13 Following
error
Following
error
Homing error 0 0 0
4000 hex 1 DEN DEN DEN 1 0 0
400000
VLIM
*3
70000
VCMP
*3
0
8 NEAR NEAR NEAR 1 0 0
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