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● State machine control command
In CiA402 protocol, the control over state machine must be the control command given from Object
6040h. 8 sets of state machine command are provided in this object. The user can switch the status of
state machine by these 8 sets of command as desired.
Command
Controlword (6040h) bit
bit7 bit3 bit2 bit1 bit0
Shutdown 0 - 1 1 0
Switch ON 0 0 1 1 1
Switch ON + Enable Operation 0 1 1 1 1
Disable Voltage 0 - - 0 -
Quick Stop* 0 - 0 1 -
Disable Operation 0 0 1 1 1
Enable Operation 0 1 1 1 1
Fault Reset 0→1 - - - -
‘
*’: JSDG2S-E servo driver does not support.
●
State machine control state
When the controller gives the control command to JSDG2S-E servo driver through Object 6040h,
after the driver generates corresponding responses, the user can check if the status of driver is identical to
the given command through Object 6041h.
Statusword (6041h) bit State
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active*
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault
‘*’: JSDG2S-E servo driver does not support.
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