A - 13
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-5 Changing the Mode of Operation
z (d) Example of Servo OFF during Operation in hm
*1 When the servo is turned OFF, a deceleration stop starts and 6061 hex continues to show the same mode as
the mode of operation (hm) specified in 6060 hex.
*2 After the motor stops, No mode assigned is shown by 6061 hex.
*3 Bits 12 and 13 will retain the preceding values during deceleration when the servo is turned OFF.
Note The operation during the interval from A to B for main circuit power OFF is the same as when the servo is
turned OFF.
The stop function due to drive prohibition is disabled during the homing operation in hm mode.
hm
Operation enabled Switched on
No mode assigned
0
0
hm
1
01
0
0/1 0
0
1
0/1
*3
*1
0/1
A
*2
B
0/1 0/1
*3
6061 hex
30 mm/s
6060 hex
(VCMP)
(NEAR)
(Target position ignored)
(VLIM)
(DEN)
(Following error)
(Target reached)
(Remote)
6041 hex: Bit 10
6041 hex: Bit 12
6041 hex: Bit 13
4000 hex: Bit 1
4000 hex: Bit 4
4000 hex: Bit 7
4000 hex: Bit 8
Actual speed
Servo ON Servo OFF
PDS state
6041 hex: Bit 9
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