A-55
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This object controls the state machine of the Servo Drive.
Description of Set Values
*1 For details, refer to Command Coding on page A-3.
*2 If this bit is set to 1 during the Homing mode (hm), the motor stops according to the settings of the Halt option
code (605D hex). This bit is ignored in other modes of operation.
*3 For details, refer to 7-7 Force Limit Switching on page 7-22.
• This object gives the present state of the Servo Drive.
Description of Settings
6040 hex
Controlword
Range
0000 to FFFF hex
Unit Default 0000 hex Attribute A
Size 2 bytes (U16) Access RW PDO map Possible
Bit Name Description
0 Switch on The state is controlled by these bits.
Quick stop is not supported. The Quick stop bit is ignored even if set to
0.
*1
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6 Operation mode specific These bits are specific to the operation mode. They are not used in
Cyclic synchronous position mode.
7 Fault reset Errors and warnings are reset when this bit turns ON.
8Halt
This bit is specific to the operating mode.
*2
9 Operation mode specific They are not used in Cyclic synchronous position mode.
10 Reserved
11 P_CL
These bits switch the force limit function. They are normally set to 0.
*3
12 N_CL
13 to 15 Manufacturer specific These are manufacturer specific bits. Always keep them at 0.
6041 hex
Statusword
Range
0000 to FFFF hex
Unit Default 0000 hex Attribute
Size 2 bytes (U16) Access RO PDO map Possible
Bit Name Description
0 Ready to switch on These bits give the state.
For details, refer to State Coding on page A-4.
1 Switched on
2 Operation enabled
3Fault
4
Voltage enabled
*1
5
Quick Stop
*2
6 Switch on disabled
7 Warning This bit indicates that warning status exists. Operation continues without
changing the status.
8 Manufacturer specific These are manufacturer specific bits. This bit is not used by G5-series
Servo Drives.
All
All
To Next Page
Loading...
