TECO JSDG2S-100A3-E - Page 562

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The user can also refer to the following table to use control command Object 6040h to control the
state machine and then have status Object 6041h read the value to confirm if the status JSDG2S-E servo
driver has changed.
No. [Before Shift]->[After]
Controlword
(6040h)
Statusword
(6041h)
0 [Start]->[Not ready to Switch on] X xxxx xxxx x0xx 0000
1 [Not ready to Switch on]->[Switch on Disabled] X xxxx xxxx x1xx 0000
2 [Switch on Disabled]->[Ready to Switch on] 0x0006 xxxx xxxx x01x 0001
3 [Ready to Switch on]->[Switch on] 0x0007 xxxx xxxx x01x 0011
4 [Switch on]->[Operation enabled] 0x000F xxxx xxxx x01x 0111
5 [Operation enabled[->[Switch on] 0x0007 xxxx xxxx x01x 0011
6 [Switch on]->[Ready to Switch on] 0x0006 xxxx xxxx x01x 0001
7 [Ready to Switch on]->[Switch on Disabled] 0x0000 xxxx xxxx x1xx 0000
8 [Operation enabled]->[Ready to Switch on] 0x0006 xxxx xxxx x01x 0001
9 [Operation enabled]->[Switch on Disabled] 0x0000 xxxx xxxx x1xx 0000
10 [Switch on]->[Switch on Disabled] 0x0000 xxxx xxxx x1xx 0000
13 [Error occurs]->[Fault reaction active] X xxxx xxxx x0xx 1111
14 [Fault reaction active]->[Fault] X xxxx xxxx x0xx 1000
15 [Fault]->[Switch on Disabled] 0x0080 xxxx xxxx x1xx 0000
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Basic control
Switching mode precautions:
1. When using absolute type encoder under CSP mode, please confirm if the object value of
current motor feedback identical to command object value. Different values will make JSDG2S-
E servo motor start following with this difference after Servo ON.
2. Objects that the user planned to PDO for mapping. Run SDO write-in under Safe-operational
and Operational and is invalid.