Appendices
A - 56
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
• This object controls the state machine of the Servo Drive.
Explanation of Settings
*1 For details, refer to Command Coding on page A-3.
*2 If this bit is set to 1 during the Homing mode (hm), the motor stops according to the settings of the Halt option
code (605D hex). This bit is ignored in other modes of operation.
*3 For details, refer to 7-7 Force Limit Switching on page 7-22.
6040 hex
Controlword
Setting
range
0000 to FFFF hex
Unit
–
Default
setting
0000 hex Data
attribute
A
Size 2 bytes (U16) Access RW PDO map Possible
Bit Name Description
0 Switch on The state is controlled by these bits.
Quick stop is not supported. The Quick stop bit is ignored even if set
to “0”.
*1
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6 Operation mode specific This bit is specific to the operating mode. They are not used in Cyclic
Synchronous Position Mode.
7 Fault reset Errors and warnings are reset when this bit turns ON.
8Halt
This bit is specific to the operating mode.
*2
9 Operation mode specific They are not used in Cyclic Synchronous Position Mode.
10 Reserved
11 P_CL
These bits switch the force limit function. They are normally set to “0”.
*3
12 N_CL
13 to 15 Manufacturer specific These are manufacturer specific bits. Always keep them at “0”.
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