A - 3
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-1 Controlling the State Machine of the Servo Drive
2 The operation to perform when the main circuit power is turned OFF while the Servo is ON can be set
using the Undervoltage Error Selection (3508 hex). 3508 hex = 0: Moves to a state where the main circuit
power supply is turned OFF and stops according to the setting of the Shutdown option code (605B hex).
3508 hex =1: Moves to an error processing state and stops according to the setting of the Fault reaction
option code (605E hex).
State is controlled by combining the bits in the Controlword (6040 hex) as shown in the following table.
*1 The state automatically moves to Operation enabled state after Servo Ready (Switched on) state.
*2 Quick stop commands are not supported. Even if a quick stop command is received, it will be ignored.
*3 Bit 7: Operation when Fault reset bit turns ON.
*4 When an error reset is executed with bit 7, set the bit back to 0 before giving the next command.
State Description
Conditions Description
Not ready to switch on The control circuit power supply is turned ON and initialization is being executed.
Switch on disabled Initialization has been completed.
Servo Drive parameters can be set.
Ready to switch on The main circuit power supply can be turned ON.
Servo Drive parameters can be set.
Switched on The main circuit power supply is ON (Servo Ready).
Servo Drive parameters can be set.
Operation enabled The Servo is ON.
Servo Drive parameters can be set.
Fault reaction active There was an error in the Servo Drive and the cause is being determined.
Servo Drive parameters can be set.
Fault There is an error in the Servo Drive.
Servo Drive parameters can be set.
Command Coding
Command
Controlword Bit
Move to
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Fault reset
Enable
operation
Quick stop
Enable
voltage
Switch on
Shutdown Disabled Disabled 1 1 0 2, 6, 8
Switch on Disabled0111 3
Switch on + Enable
operation
Disabled1111
3 + 4
*1
Disable voltage Disabled Disabled Disabled 0 Disabled 7, 9, 10
Quick stop Disabled Disabled 0 1 Disabled
Not supported
*2
Disable operationDisabled0111 5
Enable operationDisabled1111 4
Fault reset
0→1
*3*4
Disabled Disabled Disabled Disabled 15
Fault state • Errors are reset and the Servo Drive returns to its initialized state (Switch on disabled).
• Check the Statusword (6041 hex) bit 7 (Warning) and reset it if an error has occurred.
State other
than Fault state
• Check the Statusword (6041 hex) bit 7 (Warning) and reset it if an error has occurred.
• The state will change according to command bits 0 to 3.
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