Appendices
A-56
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
• This object controls the state machine of the Servo Drive.
Description of Set Values
*1 If this bit is set to 1 during the Homing mode (hm), the Servomotor stops according to the settings of the Halt
option code (605D hex). This bit is ignored in other modes of operation.
• This object gives the present state of the Servo Drive.
Bit Descriptions
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.
For details, refer to Command Coding on page A-3.
1 Enable voltage
2Quick 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.
*1
9 Operation mode specific They are not used in Cyclic synchronous position mode.
10 Reserved
11 P_CL These bits switch the torque limit function. They are normally set to 0.
For details, refer to Torque Limit Switching.
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.
9 Remote This bit indicates that the Servo Drive is being controlled by the
Controlword.
Changes to 1 (remote) after initialization has been completed.
When 0 (local) is given, it indicates that the support software has the
control right to the Servo Drive.
All
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