6-37
6-7 Object Dictionary
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6
Drive Profile
 This object controls the state machine of the Servo Drive.
Description of Set Values
 This object gives the present state of the Servo Drive.
6040 hex
Controlword
Range 0000 to FFFF hex Unit − Default 0000 hex Attribute A
Size 2 bytes (U16) Access RW PDO map Possible
All
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.
For details, refer to Command Coding on page 6-2.
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6
Operation mode specific These bits are specific to the operation mode. They are not
used in Cyclic synchronous position mode.
7 Fault reset Errors and warnings are reset when this bit turns ON.
8 Halt They are not used in Cyclic synchronous position mode.
9 Operation mode specific They are not used in Cyclic synchronous position mode.
10 Reserved
11 P_CL These bits switch the torque limit function. They are normally
set to 0.
For details, refer to Torque Limit Switching.
12
N_CL
13 to 15 Manufacturer specific These are manufacturer specific bits. Always keep them at 0.
6041 hex
Statusword
Range 0000 to FFFF hex Unit − Default 0000 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Possible
All
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