YASKAWA UAK series User Manual

8 Operation
8-6
(1) State Machine Controlling Command
(2) Bits of Statusword (6041h)
(3) Related Objects
Command
Bits of the Controlword (6040h)
Bit7 Bit3 Bit2 Bit1 Bit0
Shutdown 0–110
Switch on 00111
Switch on
+ Enable operation
01111
Disable voltage 0––0–
Quick stop 0–01–
Disable operation 00111
Enable operation 01111
Fault reset 0 → 1 – – – –
Bit No Data Description Note
0 Ready to switch on
For details, refer to
Σ -V-SD series User’s Manual For Command Profile
EtherCAT (CoE) Communications Reference (manual no.: SIEP S800000
95)
1Switched on
2Operation enabled
3Fault
4Voltage enabled
5Quick stop
6Switch on disabled
7Warning
8Reserved
9Remote
10 Target reached
11 Internal limit active
12
Operation mode specific
13
14 Torque limit active
15 HWBB active
Index Sub Name Access
PDO
Mapping
Units Type
6040h – Controlword RW Yes – UINT
6041h – Statusword RO Yes – UINT
605Ah – Quick Stop Option Code RW No – INT
605Bh – Shutdown Option Code RW No – INT
605Ch – Disable Operation Option Code RW No – INT
605Dh – Halt Option Code RW No – INT
605Eh – Fault Reaction Option Code RW No – INT

YASKAWA UAK series Specifications

General

Brand	YASKAWA
Model	UAK series
Category	Servo Drives
Language	English