Controlling The State Machine Of The Servo Drive - Omron R88D-KN series User Manual

Appendicies
A-1 CiA402 Drive Profile
This section describes the profile that is used to control the Servo Drive.
A-1-1

Controlling the State Machine of 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 Status word (6041 hex) is displayed in each PDS state.
State Machine
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.
Shutdown: 2
Switch on: 3
Disable Voltage: 10
Enable operation: 4
Note 1 Quick stop active state is not supported. Even if a Quick stop command is received, it will be ignored.
A-2
Power turned OFF or Reset
Start
0: After the control power is turned ON
Not ready to switch on
1: After initialization is completed
15: Fault reset
Switch on
disabled
7: Disable Voltage
Ready to
switch on
6: Shutdown
Switched on
5: Disable
operation
Operation enabled 8: Shut down
9: Disable Voltage
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Control
circuit
power
supply
Fault
ON
14: Error
response
operation
completed ON
Fault reaction
active
ON
13: Error occurs
Main
Servo
circuit
ON/OFF
power
supply
ON
or OFF
OFF
ON OFF
ON ON