Omron R88M-K - Page 553

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A-3

Appendices

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

A-1 CiA402 Drive Profile

App

A-1-1 Controlling the State Machine of the Servo Drive

2 The operation to perform when the main circuit power is turned OFF while the Servo is ON can be set using the

Undervoltage Error Selection (3508 hex).

3508h=0: Moves to a state where the main circuit power supply is turned OFF and stops according to the setting of

the Shutdown option code (605B hex).

3508h=1: Moves to an error processing state and stops according to the setting of the Fault reaction option code

(605E hex).

State is controlled by combining the bits in the Controlword (6040 hex) as shown in the following table.

fr = fault reset, eo = enable operation, qs = quick stop, ev = enable voltage, so = switch on

*1 The state automatically moves to Operation enabled state after Switched on state.

*2 Quick stop commands are not supported. Even if a quick stop command is received, it will be ignored.

*3 Bit 7: Operation when Fault reset bit turns ON.

Fault state: Errors are reset and the Servo Drive returns to its initialized state.

If there are any warnings (Warning (6041 hex: Statusword bit 7), they are reset.

State other than Fault state: If there are any warnings (Warning (6041 hex: Statusword bit 7), they are reset.

The state will change according to command bits 0 to 3.

*4 When an error reset is executed with bit 7, set the bit back to 0 before giving the next command.

State Descriptions

States Description

Not ready to switch on The control circuit power supply is turned ON and initialization is being executed.

Switch on disabled Initialization has been completed.