Omron R88D-KN series User Manual

Appendicies
A-4
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
State is indicated by the combination of bits in Statusword (6041 hex), as shown in the following table.
G5-series Servo Drives with built-in EtherCAT communications support the following Modes of
operation.
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
hm: Homing mode
The operation mode is set in Modes of operation (6060 hex). It is also given in Modes of operation
display (6061 hex).
The operation modes supported by the Servo Drive can be checked in Supported drive modes
(6502 hex).
If an unsupported operation mode is specified, a Function Setting Error (Error No. 93.4) will occur.
State Coding
State
Bit 6
Switch on
disabled
Bit 5
Quick
stop
Bit 4
Vol tage
enabled
Bit 3
Fault
Bit 2
Operation
enabled
Bit 1
Switched
on
Bit 0
Ready to
switch on
Not ready to switch on 0 0  0000
Switch on disabled 1 1  0000
Ready to switch on 0 1  0001
Switched on 0 1  0011
Operation enabled 0 1  0111
Fault reaction active 0 1  1111
Fault 0 1  1000
A-1-2 Modes of Operation

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English