Appendices
A-2
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
This section describes the profile that is used to control the Servo Drive.
The state of G5-series Servo Drives with built-in EtherCAT communications is called "PDS state." The
PDS state is controlled by the Controlword (6040 hex).
The state of an G5-series Servo Drive changes as shown below.
Each box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
For details on the states, refer to State Descriptions on page A-3 and Command Coding on page A-3.
Note 1 Quick stop active state is not supported. Even if a Quick stop command is received, it will be ignored.
A-1-1 Controlling the State Machine of the Servo Drive
State Machine
Not ready to switch on
1: After initialization is completed
Start
ON
ON
ON
ON
ON ON
OFF
OFF
ON
or
OFF
Switch on
disabled
Fault
Shutdown: 2
7: Disable Voltage
Ready to
switch on
Switch on: 3
Switched on
6: Shutdown
Disable Voltage: 10
Enable operation: 4
5: Disable
operation
15: Fault reset
Operation enabled
8: Shut down
9: Disable Voltage
13: Error occurs
Fault reaction
active
14: Error
response
operation
completed
Power turned OFF or Reset
0: After the control power is turned ON
Control
circuit
power
supply
Main
circuit
power
supply
Servo
ON/OFF
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