19．EtherNet/IP COMMUNICATION
After processing against the alarm has been
completed, servo-off or RA-off is performed and
the operation is disabled.
The state transitions with the Fault Reset command from the
master.
Alarms are reset.
Alarms that can be reset are reset.
(16)
(Not
support
ed)
(Note)
The state transitions with the Enable Operation command from
the master.
(If the Quick Stop option code is 5, 6, 7, or 8)
The operation becomes ready.
This is not supported by the driver.
The following table lists the commands issued to the driver. Turn on the bits according to the command.
Command bit setting of Controlword
In faulty communication, hold the state of Bit 7 = 1 according to the communication cycle for the Fault Reset command to
prevent the command from failing to be recognized.
When the time determined by doubling the communication cycle is 10 ms or shorter: Hold the state for 10 ms.
When the time determined by doubling the communication cycle is longer than 10 ms: Hold the state for the time determined
by doubling the communication cycle.
The above time has been defined to prevent the Fault Reset command from failing to be recognized when a communication
loss occurs. A communication loss occurs frequently depending on the operating environment of the device. Adjust the time
according to the environment.
Figure 5.1 and Table 5.1 show the FSA state transition conditions. The transition from the Switch on disabled
state to the Operation enabled state requires Shutdown, Switch on, and Enable operation to be issued in this
order. However, with the driver, transition to the target state skipping the states in between is possible.
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