Omron R88D-KN series User Manual page 403

2 The operation to perform when the main circuit power is turned OFF while the Servo is ON can be set
using the Undervoltage Error Selection (3508 hex).
3508 hex=0: Moves to a state where the main circuit power supply is turned OFF and stops according to
the setting of the Shutdown option code (605B hex).
3508 hex=1: Moves to an error processing state and stops according to the setting of the Fault reaction
option code (605E hex).
State Descriptions
States
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Fault reaction active
Fault
Command Coding
State is controlled by combining the bits in the Controlword (6040 hex) as shown in the following table.
Command
Shutdown
Switch on
Switch on + Enable
operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
*1 The state automatically moves to Operation enabled state after Switched on state.
*2 Quick stop commands are not supported. Even if a quick stop command is received, it will be ignored.
*3 Bit 7: Operation when Fault reset bit turns ON.
Fault state
State other than
Fault state
*4 When an error reset is executed with bit 7, set the bit back to 0 before giving the next command.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
The control circuit power supply is turned ON and initialization is being executed.
Initialization has been completed.
Servo Drive parameters can be set.
The main circuit power supply can be turned ON.
Servo Drive parameters can be set.
The main circuit power supply is ON.
Servo Drive parameters can be set.
The Servo is ON.
Servo Drive parameters can be set.
There was an error in the Servo Drive and the cause is being determined.
Servo Drive parameters can be set.
There is an error in the Servo Drive.
Servo Drive parameters can be set.
Controlword Bit
Bit 3
Bit 7
Enable
Fault reset
operation
 

0

1
 
 

0

1

0  1 *3*4
• Errors are reset and the Servo Drive returns to its initialized state.
• Check the Statusword (6041 hex) bit 7 (Warning) and reset it if an error has occurred.
• Check the Statusword (6041 hex) bit 7 (Warning) and reset it if an error has occurred.
• The state will change according to command bits 0 to 3.
Description
Bit 1
Bit 2
Enable
Quick stop
voltage
1 1
1 1
1 1

0
0 1
1 1
1 1
 
Appendicies
Move to
Bit 0
Switch on
0 2, 6, 8
1 3
1 *1
3 + 4

7, 9, 10

*2
Not supported
1 5
1 4

15
A-3