A-9
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-5 Changing the Mode of Operation
z Bit Displays According to Modes of Operation Display (6061 Hex)
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 1) to 3) below.
*2 When commands in the Controlword (6040 hex) are not followed when the servo is ON, this bit will be 0. For
details, see figures 2) and 3) below.
*3 When commands in the Controlword (6040 hex) are not followed when the servo is ON, the preceding value is
retained. For details, see figure 4) below.
*4 Profile position mode (pp) is supported for unit version 2.1 or later.
Object Bit
6061: Modes of Operation Display
Position control mode
Speed
Control
Mode
Torque
Control
Mode
csp
pp
*4
hm
Not
specified
csv cst
6041 hex 10 0 Target
reached
Ta rge t
reached
000
12 Target
position
ignored
*1
Acknowledge
Home
attained
*3
0 Target
velocity
ignored
*1
Target
torque
ignored
*1
13 Following
error
Following
error
Homing
error
*3
000
4000 hex 1 DEN DEN DEN 1 0 0
400000
VLIM
*2
70000
VCMP
*2
0
8 NEAR NEAR NEAR 1 0 0
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